Picking robot

Abstract

The invention relates to a picking robot. The picking robot comprises a base, a picking mechanism, a vibration mechanism and a loading frame; the picking mechanism is arranged on the base; the vibration mechanism comprises a bearing piece, a driving piece, an eccentric wheel, a connecting piece and a limiting mechanism; the bearing part is stacked on the base, the driving part is arranged on the base, an output shaft of the driving part is connected with the eccentric wheel, one end of the connecting part is rotationally connected with the eccentric wheel, the other end of the connecting part is rotationally connected to the bearing part, and the driving part drives the bearing part to reciprocate relative to the base. The limiting mechanism is arranged on the side, away from the base, of the bearing part, the loading frame is limited by the limiting mechanism, and when the bearing part reciprocates, the loading frame on the bearing part is driven to move, so that articles such as fruits and vegetables in the loading frame are flattened, the loading frame can be fully filled without shooting pictures of the loading frame by fixedly arranging the back swing position of the picking mechanism, and the picking efficiency is improved. The swing position does not need to be controlled to change, the execution efficiency is high, and the overall working efficiency of the picking robot is high.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of picking, and in particular, to a picking robot. BACKGROUND

[0002] With the acceleration of urbanization process, agricultural population continues to flow out, and every picking season, fruit farmers will face seasonal labor shortage. The best picking time of mature fruit is extremely short, and once missed, not only the appearance of the fruit will decrease, but also the taste will be significantly different, thereby affecting the yield of fruit farmers.

[0003] To solve the seasonal picking problem of fruit farmers, picking robots have appeared on the market. The picking robot includes a wheeled base, a picking mechanism and a loading frame (such as a commercially available plastic frame). The picking mechanism can include a mechanical arm and an end effector. The loading frame and the mechanical arm are installed on the wheeled base, and the end effector is located at the end of the mechanical arm and is equipped with a gripper. The mechanical arm drives the end effector to pick the fruit and then places it in the loading frame, realizing automatic picking of the fruit. The picking robot can replace repetitive labor, especially during the fruit ripening period, and can realize 24-hour continuous operation, effectively making up for the labor gap.

[0004] However, the applicant of the present application found that when the picking mechanism swings back to place the fruit in the loading frame, the swing-back position is usually fixed to improve the motion efficiency. However, the fixed swing-back position will cause the fruit to accumulate in the same position, and even exceed the loading frame, while the fruit in other parts of the loading frame is less, resulting in uneven loading, and even the loading frame is not full but cannot continue to place the fruit. If the picking mechanism swings back to a different position each time, the hand-eye camera of the picking mechanism needs to take a picture of the loading frame, and then identify the position where the fruit is less according to the picture, and control the swing-back to that position. This scheme needs to go through a series of processes such as identification, analysis, and repositioning, which will reduce the execution efficiency, and thus affect the overall working efficiency of the picking robot. SUMMARY

[0005] In view of the above problems, embodiments of the present application provide a picking robot, which overcomes the above problems or at least partially solves the above problems.

[0006] According to an aspect of the present application, a picking robot is provided, comprising a base, a picking mechanism, a vibrating mechanism and a loading frame; the picking mechanism is arranged on the base, and is used for picking objects; the vibrating mechanism comprises a carrier, a driving member, an eccentric wheel, a connecting member and a limiting mechanism; the carrier is stacked on the base, the driving member is arranged on the base, the output shaft of the driving member is connected with the eccentric wheel, one end of the connecting member is rotationally connected with the eccentric wheel, and the other end of the connecting member is rotationally connected with the carrier; the driving member drives the carrier to make reciprocating motion relative to the base through the eccentric wheel and the connecting member; the limiting mechanism is arranged on the side of the carrier away from the base, and the loading frame is limited by the limiting mechanism.

[0007] In an optional manner, the base is provided with a slide rail, and the carrier is provided with a sliding block which is slidingly arranged on the slide rail, so that the carrier can make the reciprocating motion along the length direction of the slide rail.

[0008] In an optional manner, the number of the slide rails is two, and the two slide rails are arranged at intervals; the number of the sliding blocks is two, and one sliding block is arranged on one slide rail.

[0009] In an optional manner, the side wall of the slide rail is provided with a groove which extends along the length direction of the slide rail; the side wall of the sliding block is provided with a boss which is inserted into the groove; and the boss can reciprocatingly slide along the length direction of the slide rail.

[0010] In an optional manner, the base is provided with two limiting bosses which are arranged at the two ends of the slide rail along the length direction of the slide rail; and the limiting bosses are used for limiting the maximum stroke of the sliding block relative to the slide rail.

[0011] In an optional manner, the limiting mechanism comprises two limiting members which are arranged at opposite positions; and the loading frame is clamped between the two limiting members.

[0012] In an optional manner, the limiting member comprises a first wall, a second wall and a third wall which are connected in sequence; the first wall and the third wall are arranged at opposite positions; the first wall, the second wall and the third wall jointly form a limiting groove; one side of the loading frame is accommodated in the limiting groove of one limiting member; and the other side of the loading frame is accommodated in the limiting groove of the other limiting member.

[0013] In an alternative, the picking robot further comprises at least one infrared sensor, the loading frame has two oppositely arranged handle openings, the handle openings are arranged near one end of the first wall facing away from the carrier, and the infrared sensor is arranged on the first wall corresponding to the handle openings, and the infrared sensor is used to emit an infrared sensing line through the handle openings to detect the loading frame.

[0014] In an alternative, the picking robot further comprises a weight sensor, the weight sensor is arranged on the carrier plate, and the weight sensor is used to detect the weight of the loading frame and the weight of the loading frame together with the articles in the loading frame.

[0015] In an alternative, the surface of the carrier facing the base is provided with a convex column, and the other end of the connecting piece is rotatably connected to the convex column.

[0016] The picking robot provided by the embodiments of the present application has the following beneficial effects: the picking robot comprises a base, a picking mechanism, a vibrating mechanism, and a loading frame; the picking mechanism is arranged on the base, and is used to pick articles; the vibrating mechanism comprises a carrier, a driving piece, an eccentric wheel, a connecting piece, and a limiting mechanism; the carrier is stacked on the base, the driving piece is arranged on the base, an output shaft of the driving piece is connected with the eccentric wheel, one end of the connecting piece is rotatably connected with the eccentric wheel, and the other end of the connecting piece is rotatably connected with the carrier; the driving piece drives the carrier to make reciprocating motion relative to the base through the eccentric wheel and the connecting piece; the limiting mechanism is arranged on a side of the carrier facing away from the base, and the loading frame is limited by the limiting mechanism. Through the picking robot, when the carrier makes reciprocating motion, the loading frame on the carrier and the articles in the loading frame are driven to make reciprocating motion, so that the articles such as fruits and vegetables in the loading frame are spread flat, the risk of uneven loading of the articles in the loading frame is reduced, the fixed arrangement of the return position of the picking mechanism can realize full loading of the loading frame, in addition, it is not necessary to shoot pictures of the loading frame, and it is not necessary to control the change of the return position, the execution efficiency of the picking mechanism is high, and the overall working efficiency of the picking robot is high. BRIEF DESCRIPTION OF DRAWINGS

[0017] One or more embodiments are illustrated by way of example in the figures that form a part of this patent document, these illustrative examples do not limit the embodiments and elements in the figures with the same reference numerals indicate similar elements unless otherwise stated, the figures in the drawings do not constitute a proportional limit.

[0018] Figure 1 is a schematic diagram of the picking robot provided by the embodiments of the present application.

[0019] Figure 2is another perspective view of the picking robot provided by an embodiment of the present application.

[0020] Figure 3 is a perspective view of the picking robot provided by an embodiment of the present application. Figure 2 is an enlarged view of part A in FIG. 1.

[0021] Figure 4 is a perspective view of the picking robot provided by an embodiment of the present application along Figure 2 is a partial view of a sectional view of part P.

[0022] Figure 5 is a schematic view of a hardware structure of a controller in the picking robot provided by an embodiment of the present application.

[0023] Figure 6 is a flowchart of a picking method provided by an embodiment of the present application.

[0024] Figure 7 is a flowchart of another picking method provided by an embodiment of the present application.

[0025] Figure 8 is a flowchart of yet another picking method provided by an embodiment of the present application.

[0026] Figure 9 is a flowchart of still another picking method provided by an embodiment of the present application.

[0027] Figure 10 is a flowchart of still another picking method provided by an embodiment of the present application.

[0028] Figure 11 is a schematic view of a picking device provided by an embodiment of the present application. Reference signs in the drawings are as follows: 100, picking robot; 10, base; 20, picking mechanism; 30, vibration mechanism; 40, loading frame; 50, infrared sensor; 60, walking wheel; 70, controller; 11, sliding rail; 111, groove; 112, spacing space; 12, limiting protrusion; 21, mechanical arm; 22, end effector; 31, bearing; 32, driving piece; 321, output shaft; 33, eccentric wheel; 34, connecting piece; 35, limiting mechanism; 311, sliding block; 3111, boss; 312, protruding column; 351, limiting piece; 3511, first wall; 3512, second wall; 3513, third wall; 351s, limiting groove; 41, handle opening; 42, loading opening; 61, processor; 62, memory; D1, length direction; DETAILED DESCRIPTION To make the objectives, technical solutions, and superiorities of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments to make a clear and complete description of the technical solutions in the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0029] It should be noted that when an element is described as "fixed" to another element, it can be directly on the other element, or one or more intervening elements can be present. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intervening elements can be present. The terms "vertical", "horizontal", "left", "right", and similar expressions used in the specification are for illustrative purposes only.

[0030] In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0031] In order to facilitate the reader to understand the design concept of the present application, first, the application of the picking method provided by the embodiments of the present application (picking robot 100) is described.

[0032] Please refer to Figures 1 to 3 The picking robot 100 provided by the embodiments of the present application includes a base 10, a picking mechanism 20, a vibration mechanism 30, a loading frame 40, an infrared sensor 50, and a weight sensor (not shown in the figure). The base 10 is used to support the picking mechanism 20, the vibration mechanism 30, the loading frame 40, and the infrared sensor 50. The picking mechanism 20 is used for picking objects and placing the objects in the loading frame 40. The vibration mechanism 30 is arranged on the base 10, and the vibration mechanism 30 is used to drive the loading frame 40 to reciprocate along a first direction, so as to make the objects in the loading frame 40 flat, and reduce the risk of uneven loading of the objects in the loading frame 40. The infrared sensor 50 is used to detect the state of the objects in the loading frame 40. The weight sensor is arranged on the vibration mechanism 30, and the weight sensor is used to detect the weight of the loading frame 40 and the objects in the loading frame 40.

[0033] For the above-mentioned base 10, the base 10 is used for supporting, in some embodiments, the base 10 is provided with walking wheels 60, so that the picking robot 100 can freely move in the working environment such as orchard, which improves the flexibility and efficiency of picking. The structural design of the base 10 is stable, which can bear the weight of the picking mechanism 20, the vibration mechanism 30, the loading frame 40 and the infrared sensor 50 and other components, and ensures the stability of the picking robot 100 during the working process. In addition, the base 10 is also provided with a power supply device (not shown in the figure), which provides power support for each component of the picking robot 100, and ensures the continuous operation of the picking work.

[0034] It can be understood that the number of walking wheels 60 can be 4, 6 or more, to adapt to different terrain requirements.

[0035] In some embodiments, the base 10 is provided with a slide rail 11, which is used for the reciprocating movement of the vibration mechanism 30 along the length direction D1 of the slide rail 11. It can be understood that the length direction D1 of the slide rail 11 is also the first direction mentioned above.

[0036] Among them, the length direction D1 of the slide rail 11 refers to the straight line direction in which the slide rail 11 extends.

[0037] Among them, the number of slide rails 11 can be two, and the two slide rails 11 are arranged at intervals. The interval space 112 is formed between the two interval slide rails 11, which can be used to accommodate at least part of the vibration mechanism 30.

[0038] It is worth noting that in some embodiments, the base 10 is provided with two limiting protrusions 12, which are arranged at the two ends of the slide rail 11 along the length direction D1 of the slide rail 11, and the limiting protrusions 12 are used to limit the maximum stroke of the vibration mechanism 30 relative to the slide rail 11, which improves the safety of the vibration mechanism 30 operation.

[0039] The harvesting mechanism 20 described above is used for harvesting fruits and vegetables. In some embodiments, the harvesting mechanism 20 includes a robotic arm 21 and an end effector 22. The robotic arm 21 is disposed on the base 10, and the end effector 22 is disposed at the end of the robotic arm 21 away from the base 10. The robotic arm 21 is used to adjust the position of the end effector 22, for example, adjusting the position of the end effector 22 in three-dimensional space, to achieve precise harvesting of fruits and vegetables at different heights and positions. The end effector 22 is responsible for actually performing the harvesting action. Its structural design conforms to the shape and texture of the fruits and vegetables, and can gently and effectively pick the fruits and vegetables from the branches, avoiding damage to them. In some more specific embodiments, the end effector 22 may also be equipped with a cutting device or a clamping device (e.g., a gripper) to adapt to the harvesting needs of different types of fruits and vegetables. Through the coordinated work of the robotic arm 21 and the end effector 22, the harvesting mechanism 20 can efficiently complete the harvesting task, improving harvesting efficiency and quality.

[0040] It is worth noting that the harvesting mechanism 20 is not limited to the aforementioned robotic arm 21 and end effector 22, and can also be implemented in other ways. For example, the harvesting mechanism 20 includes a rotating mechanism (not shown), a telescopic mechanism (not shown), and a suction cup (not shown). The rotating mechanism is rotatably mounted on the base 10, and the telescopic mechanism is connected to the end of the rotating mechanism away from the base 10. The rotating mechanism can drive the telescopic mechanism to rotate, and the suction cup is located at the telescopic end of the telescopic mechanism away from the rotating mechanism. The suction cup is used to adsorb fruits and vegetables. During harvesting, the rotating mechanism drives the telescopic mechanism and the suction cup to move towards the fruits and vegetables. The telescopic mechanism extends so that the suction cup contacts and adsorbs the fruits and vegetables, and then the telescopic mechanism retracts to harvest the fruits and vegetables. Of course, the specific implementation of the harvesting mechanism 20 can be reasonably selected and designed according to actual needs to achieve the best harvesting effect, which will not be elaborated here.

[0041] The loading frame 40 described above can be made of plastic. The loading frame 40 can be a commercially available plastic frame. In some embodiments, the loading frame 40 has two handle openings 41 opposite to each other, which facilitates moving the loading frame 40. When the loading frame 40 is full of fruits, vegetables, or other items, it can be easily lifted through the handle openings 41 for handling, emptying, or replacing with another empty loading frame 40. Additionally, the handle openings 41 also allow infrared sensing rays emitted by the infrared sensor 50 to pass through, detecting the state of the items in the loading frame 40.

[0042] The vibration mechanism 30 described above is used to vibrate in order to flatten the items placed in the loading frame 40 of the vibration mechanism 30.

[0043] In some embodiments, the vibrating mechanism 30 comprises a carrier 31, a driving member 32, an eccentric wheel 33, a connecting member 34 and a limiting mechanism 35; the carrier 31 is stacked on the base 10, the driving member 32 is arranged on the base 10, the output shaft 321 of the driving member 32 is connected with the eccentric wheel 33, one end of the connecting member 34 is rotationally connected with the eccentric wheel 33, the other end of the connecting member 34 is rotationally connected with the carrier 31, the driving member 32 drives the carrier 31 to make reciprocating motion relative to the base 10 through the eccentric wheel 33 and the connecting member 34; the limiting mechanism 35 is arranged on the side of the carrier 31 away from the base 10, and the loading frame 40 is limited in the limiting mechanism 35. Through the arrangement of the vibrating mechanism 30, when the driving member 32 drives the carrier 31 to make reciprocating motion, the loading frame 40 limited in the limiting mechanism 35 follows, so that the fruits and vegetables and other articles in the loading frame 40 are spread out, reducing the risk of incomplete loading or gap caused by uneven loading of the articles in the loading frame 40.

[0044] It can be understood that the carrier 31 and the limiting mechanism 35 can be designed in one piece.

[0045] It is worth noting that when the base 10 is provided with two spaced apart slide rails 11, the eccentric wheel 33 and the connecting member 34 are located in the spacing space 112 between the two slide rails 11.

[0046] It is worth noting that in some embodiments, referring to Figure 4 and combining Figure 3 , the carrier 31 is provided with a sliding block 311, which is slidingly arranged on the slide rail 11 of the base 10, so that the carrier 31 can make the reciprocating motion along the length direction D1 of the slide rail 11. Through the arrangement of the slide rail 11 and the sliding block 311, the motion of the carrier 31 is stable, and the motion trajectory of the carrier 31 is controllable, which improves the working efficiency and stability of the vibrating mechanism 30. In addition, the cooperative design of the slide rail 11 and the sliding block 311 can also reduce the frictional resistance of the carrier 31 during reciprocating motion, prolonging the service life of the vibrating mechanism 30.

[0047] It can be understood that when the number of the slide rails 11 of the base 10 is two, the number of the sliding blocks 311 is two, and one sliding block 311 is located on one slide rail 11. Through the arrangement of the two slide rails 11 and the two sliding blocks 311, the motion stability and reliability of the carrier 31 are further improved.

[0048] It can be understood that when the carrier 31 is provided with the sliding block 311, the maximum stroke of the sliding block 311 relative to the slide rail 11 is limited by the limiting protrusion 12 arranged on the base 10.

[0049] It is worth noting that in some embodiments, the side wall of the slide rail 11 is provided with a groove 111 extending along the length direction D1 of the slide rail 11, and the side wall of the sliding block 311 is provided with a protrusion 3111 which is inserted into the groove 111 and can reciprocate in the groove 111 along the length direction D1 of the slide rail 11. Through the arrangement of the groove 111 and the protrusion 3111, the movement trajectory of the sliding block 311 on the slide rail 11 is limited, avoiding the sliding block 311 from deviating, shaking or even separating on the slide rail 11, thereby improving the working stability and reliability of the vibration mechanism 30.

[0050] In some embodiments, the number of grooves 111 is two, one groove 111 is arranged on the side wall of one slide rail 11, and the number of protrusions 3111 is two, one protrusion 3111 is inserted into one groove 111.

[0051] It is worth noting that in some embodiments, the bearing 31 is provided with a protrusion 312 facing the eccentric wheel 33, and the other end of the connecting piece 34 is rotatably connected to the protrusion 312. Through the arrangement of the protrusion 312, the other end of the connecting piece 34 is rotatably connected to the bearing 31.

[0052] It is worth noting that the driving piece 32 is used to provide power, and the driving piece 32 can be a motor, a hydraulic motor or a pneumatic motor, etc. These driving pieces 32 can all provide stable power output to meet the power demand of the vibration mechanism 30. Among them, the motor has the advantages of simple structure, easy control and convenient maintenance, etc., and is a more commonly used type of driving piece 32. The hydraulic motor has the characteristics of large output torque and stable work at low speed, and is suitable for applications requiring large driving force or special working conditions. The pneumatic motor has the characteristics of small size, light weight and rapid start, and is suitable for occasions requiring fast response or limited space. In actual application, the appropriate type of driving piece 32 can be selected according to the specific working demand and the design requirement of the vibration mechanism 30.

[0053] Among them, the eccentric wheel 33 in the vibration mechanism 30 will generate a periodic centrifugal force during rotation due to its shape characteristics. This centrifugal force is transmitted to the bearing 31 through the connecting piece 34, thereby driving the bearing 31 to reciprocate relative to the base 10. This reciprocating motion can drive the loading frame 40 arranged on the bearing 31 to move together, thereby achieving the flattening effect of the articles in the loading frame 40.

[0054] For the above-mentioned limiting mechanism 35, the limiting mechanism 35 is used to limit the position of the loading frame 40. The specific implementation of the limiting mechanism 35 can be reasonably selected according to actual needs. In some embodiments, the limiting mechanism 35 includes two oppositely arranged limiting members 351, and the loading frame 40 is clamped between the two limiting members 351, so that the loading frame 40 is limited by the limiting members 351 on the bearing member 31, so that when the driving member 32 drives the bearing member 31 to reciprocate relative to the base 10, the bearing member 31 can drive the loading frame 40 to move, thereby flattening the articles loaded in the loading frame 40.

[0055] In some embodiments, the limiting member 351 includes a first wall 3511, a second wall 3512 and a third wall 3513 connected in sequence, the first wall 3511 and the third wall 3513 are oppositely arranged, and the first wall 3511, the second wall 3512 and the third wall 3513 form a limiting groove 351s, one side of the loading frame 40 is accommodated in the limiting groove 351s of one of the limiting members 351, and the other side of the loading frame 40 is accommodated in the limiting groove 351s of the other limiting member 351. Through the arrangement of the two limiting grooves 351s, the position of the loading frame 40 on the bearing member 31 is limited, the risk of shaking or deviation of the loading frame 40 during vibration is reduced, and the flattening effect is ensured.

[0056] It can be understood that the limiting groove 351s is designed according to the shape and size of the loading frame 40, so that the loading frame 40 can be stably clamped by the limiting member 351, and the loading frame 40 is convenient to take and replace. In addition, the structure of the limiting member 351 is firm and durable, and can withstand the vibration and impact force generated during the working process of the vibration mechanism 30, so as to ensure the stability and service life of the picking robot 100.

[0057] It is worth noting that when the loading frame 40 is provided with the handle opening 41, the handle opening 41 is arranged near one end of the first wall 3511 away from the bearing member 31, so as to facilitate taking out or putting the loading frame 40 from the limiting groove 351s through the handle opening 41. When the loading frame 40 is full, the loading frame 40 can be easily lifted through the handle opening 41 and carried to a designated position for unloading, and then another empty loading frame 40 is replaced to continue the picking work, thereby improving the picking efficiency.

[0058] For the above infrared sensor 50, in some embodiments, the infrared sensor 50 corresponding to the handle opening 41 is arranged on the first wall 3511, and the infrared sensor 50 is used to emit an infrared sensing line through the handle opening 41 to detect the state of the articles in the loading frame 40, so as to determine whether the loading frame 40 is full. The number of the infrared sensor 50 is two, and the two infrared sensors 50 are oppositely arranged along the first direction, and one infrared sensor 50 corresponding to one handle opening 41 is arranged on one first wall 3511. Through the cooperation of the two infrared sensors 50, the accuracy of determining whether the loading frame 40 is full is improved.

[0059] In some embodiments, the handle opening 41 is arranged close to the loading opening 42, and the infrared sensor 50 corresponding to the handle opening 41 is arranged close to the loading opening 42 of the loading frame 40, so as to facilitate the determination of whether the loading frame 40 is full.

[0060] Wherein, "close to" means that the handle opening 41 is a predetermined distance away from the loading opening 42 of the loading frame 40 along the depth direction of the loading frame 40, and the infrared sensor 50 is a predetermined distance away from the loading opening 42 of the loading frame 40. The predetermined distance can be set according to actual needs, for example, 2cm to 6cm.

[0061] Wherein, the determination of whether the loading frame 40 is full can be based on whether the articles are loaded to the position where the infrared sensor 50 is located, or whether the articles are loaded to the loading opening 42.

[0062] For the above weight sensor, the weight sensor is located on the bearing plate, and the weight sensor is used to detect the weight of the loading frame 40 and the weight of the loading frame 40 together with the articles in the loading frame 40. Through the arrangement of the weight sensor, the accuracy of determining whether the loading frame 40 is full is improved.

[0063] The picking robot 100 is also provided with a controller 70, which is a control center. Please refer to Figure 5 The hardware structure of the controller 70 includes one or more processors 71 and a memory 72. Figure 5 In the embodiment, the memory is taken as an example.

[0064] The processor 71 and the memory 72 can be connected through a bus or other means. In the embodiment, the connection through the bus is taken as an example.

[0065] The memory 72, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the picking method in the embodiments of the present application. The processor 71 executes various functional applications and data processing of the picking robot 100 by running the non-volatile software programs, instructions and modules stored in the memory 72, that is, implements the picking method of the method embodiments described below.

[0066] The memory 72 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function. In addition, the memory 72 can include a high-speed random access memory and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 72 can optionally include a memory remotely arranged with respect to the processor 71. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0067] The one or more modules are stored in the memory 72 and, when executed by the one or more processors 71, perform the picking method in any of the method embodiments described below.

[0068] The above product can execute the method provided by the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the method. Technical details not described in detail in the embodiments can be referred to the method provided by the embodiments of the present application.

[0069] The embodiments of the present application provide a computer program product, which stores computer executable instructions, and the picking robot 100 executes the picking method in any of the method embodiments described below.

[0070] The embodiments of the present application provide a computer program product, which stores a computer program on the computer program product, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the picking method in any of the method embodiments described below.

[0071] The system embodiments described above are only schematic, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0072] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the following embodiment methods can be completed by instructing related hardware through a computer program, and the program can be stored in a computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiments can be included. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM), etc.

[0073] Please refer to Figure 6 , Figure 6 is a flowchart of a picking method provided by the embodiment of the present application, and the method comprises the following steps: Step S10, controlling the picking mechanism to place the picked items in the loading frame.

[0074] When the picking mechanism 20 comprises the above-mentioned mechanical arm 21 and the end effector 22, the specific operation process can be as follows: first, the mechanical arm 21 accurately adjusts its position and posture according to the preset path planning, moves the end effector 22 to the upper side close to the loading frame 40. Then, the end effector 22 releases the grasp on the picked items, so that the items fall smoothly into the loading frame 40. In this process, the end effector 22 can also control the release force and speed to ensure that the items will not be damaged due to falling too fast.

[0075] Step S20, controlling the two infrared sensors to respectively emit infrared sensing lines.

[0076] The infrared sensor is composed of an infrared emitter tube and an infrared receiver tube. The infrared emitter tube is usually made of semiconductor materials such as gallium arsenide (GaAs), which can convert electrical energy into infrared light emission. The infrared receiver tube is used to receive the infrared light emitted by the infrared emitter tube and convert it into an electrical signal.

[0077] Step S30, judging whether the two infrared sensors detect the items according to the emitted infrared sensing lines, respectively.

[0078] The infrared emitter tube emits an infrared sensing line, and when the emitted infrared sensing line meets the items in the loading frame, part of the infrared sensing line will be reflected back and received by the infrared receiver tube. The receiver tube will convert the received infrared sensing line into an electrical signal. According to the strength, presence or absence, etc. of the received electrical signal, it can be judged whether there are items, and the distance, position, etc. of the items.

[0079] Step S40, when one of the infrared sensors detects the article, and the other infrared sensor does not detect the article, the vibration mechanism is controlled to start to drive the loading frame to reciprocate in the first direction to flatten the article.

[0080] When the vibration mechanism 30 includes the driving member 32, the driving member 32 of the vibration mechanism 30 is specifically controlled to start to flatten the article.

[0081] Wherein "flattening" refers to uniformly spreading the articles in the loading frame 40 through vibration to avoid the articles from piling up and affecting the subsequent picking or processing effect. The flattening operation can ensure that the articles are evenly distributed in the loading frame, facilitating subsequent operations such as article grabbing, carrying or classification. At the same time, the flattening operation can also improve the picking efficiency and reduce the picking delay or errors caused by article piling up.

[0082] It can be understood that when one of the infrared sensors detects the article, and the other infrared sensor does not detect the article, it indicates that the articles are locally piled up, and at this time, the flattening operation needs to be performed through the vibration mechanism to facilitate the subsequent picking and placing of the articles in the loading frame.

[0083] Please refer to Figure 7 In some embodiments, the picking method further comprises: Step S50, entering the step of controlling the picking mechanism to place the picked articles in the loading frame until both of the infrared sensors do not detect the article, and controlling the vibration mechanism to stop, and the picking ends. Through this step, not only the flattening of the articles in the loading frame can be achieved, but also the picking action can be stopped in time to avoid over-picking or overflow after the loading frame is full, ensuring the efficiency and accuracy of the picking operation. Since the picking mechanism continuously places the articles in the loading frame, after the flattening of the articles is implemented in step S40, it can be ensured that the articles are always in a flattened state, and after that, when both of the infrared sensors do not detect the article, the vibration mechanism can be controlled to stop in time to control the picking to end.

[0084] Please refer to Figure 8 In some embodiments, the picking method further comprises: Step S60, enter the step of controlling the picking mechanism to place the picked items in the loading frame. After a preset time length, at least one of the infrared sensors detects the items, and the vibration mechanism is controlled to stop, and the picking ends. Through this step, not only can the items in the loading frame be flattened, but also the picking action can be stopped in time to avoid over-picking or overflow after the loading frame is full, ensuring the efficiency and accuracy of the picking operation. Since the picking mechanism continuously places items in the loading frame, after step S40 is implemented to flatten the items, it can be ensured that the items are always in a flattened state. After a preset time length, at least one of the infrared sensors detects the items, indicating that the items have reached the position of the infrared sensor, and the vibration mechanism can be controlled to stop in time to control the picking to end.

[0085] Please refer to Figure 9 When the picking robot 100 includes a weight sensor, in some embodiments, before the above step S10, i.e., before the step of controlling the picking mechanism to place the picked items in the loading frame, the picking method further includes: Step S1, obtaining detection data of the weight sensor.

[0086] The weight sensor is used to detect the weight of an empty loading frame, a loading frame, and items in the loading frame to obtain the detection data.

[0087] Step S2, determining whether the detection data is less than a preset threshold. If yes, step S3 is performed.

[0088] If the detection data is less than the preset threshold but not equal to zero, it means that the vibration mechanism is placed with a loading frame and there are no items in the loading frame, and at this time, the item placement can be started.

[0089] The preset threshold is greater than the weight of one loading frame and less than the weight of one loading frame together with one item.

[0090] Step S3, controlling the two infrared sensors to respectively emit infrared sensing lines.

[0091] The specific implementation process of step S3 can refer to the above step S20, which will not be described here.

[0092] Step S4, according to the emitted infrared sensing line, respectively judge whether the two infrared sensors detect the article and whether the loading frame is detected. If both of the two infrared sensors do not detect the loading frame, both of the two infrared sensors do not detect the article, at this time it is indicated that the infrared sensor is not blocked by the loading frame, then enter step S10, that is, the step of controlling the picking mechanism to place the picked article in the loading frame. Through the above operation, the weight sensor is added to the picking method, which improves the stability and accuracy of the picking operation. With the assistance of the weight sensor, the picking robot can more intelligently judge the state of the loading frame, so as to make more appropriate operation decisions.

[0093] It is worth noting that according to the description of the above step S30, the infrared sensor can detect the distance, position and other information of the obstacle including the article. After the loading frame is placed on the vibration mechanism, the position of the loading frame from the infrared sensor is within the preset range, so whether the two infrared sensors detect the article and whether the loading frame is detected can be judged.

[0094] Please refer to Figure 10 In some embodiments, the picking robot 100 further comprises a camera unit (not shown in the figure), which is arranged on the picking mechanism 20, for example, the mechanical arm 21 of the picking mechanism 20. The picking method further comprises: Step S5, if both of the two infrared sensors detect the loading frame, control the camera unit to shoot the image of the loading frame and the article in the loading frame.

[0095] When both of the two infrared sensors detect the loading frame, it indicates that the infrared sensor is blocked and the infrared sensor cannot further detect the state of the article in the loading frame. At this time, the camera unit is needed to assist in judging the state of the article in the loading frame.

[0096] It is worth noting that in some embodiments, if both of the two infrared sensors detect the loading frame, it indicates that the infrared sensor cannot further detect the state of the article in the loading frame. Control to turn off the infrared sensor, which saves energy and avoids the risk of error of the infrared sensor due to long time work.

[0097] Step S6, according to the image, judge whether the article is flat and whether the loading frame is full.

[0098] In some embodiments, the method further comprises the step of determining whether the items are spread flat and whether the loading frame is full based on the image. The determination of whether the items are spread flat and whether the loading frame is full can be achieved by analyzing and processing the image through an image recognition algorithm. The image recognition algorithm can extract feature information in the image, such as the shape, size, and distribution of the items, to determine whether the items are spread flat. Meanwhile, the image recognition algorithm can also determine whether the loading frame is full based on the number and distribution of the items in the loading frame. With the assistance of the camera unit, the accuracy and stability of the picking operation can be further improved.

[0099] When it is determined that the loading frame is not full and the items are not spread flat, the vibration mechanism is controlled to start in step S7, so as to drive the loading frame to reciprocate along the first direction, so as to spread the items flat. Through this operation, it can be further ensured that the items in the loading frame are evenly spread, and the efficiency and accuracy of the picking operation can be improved. When it is determined that the loading frame is not full and the items are not spread flat, it indicates that the distribution of the items in the loading frame is uneven, and there is a stacking phenomenon. At this time, the vibration mechanism is started for spreading operation, which can effectively avoid the delay or error of picking caused by the stacking of the items.

[0100] After step S7, step S10 is entered, i.e., the step of controlling the picking mechanism to place the picked items in the loading frame, and then step S1 is entered, i.e., the step of acquiring the detection data of the weight sensor, and step S8 is performed. When it is determined that the loading frame is full, the vibration mechanism is controlled to stop, and the picking is ended, so that the picking can be timely controlled to end when the loading frame is full, the over-picking or overflow after the loading frame is full can be avoided, and the efficiency and accuracy of the picking operation can be further improved.

[0101] It is worth noting that in some embodiments, if the detection data of the weight sensor is less than a preset value, the infrared sensor is controlled to be turned off, and the preset value is less than the preset threshold. In some embodiments, the preset value is close to zero, for example, the preset value is 0.2 grams. If the detection data of the weight sensor is less than the preset value, it indicates that the weight sensor does not detect weight, i.e., the loading frame is not placed on the vibration mechanism. At this time, the infrared sensor is controlled to be turned off, so as to save energy. When the weight sensor detects weight, the infrared sensor is turned on again, and any of the above picking methods is performed.

[0102] In the embodiment of the present application, the picking mechanism is controlled to place the picked items in the loading frame; the two infrared sensors are controlled to respectively emit infrared sensing lines; it is judged whether the two infrared sensors respectively detect the items according to the emitted infrared sensing lines; when one of the infrared sensors detects the items and the other infrared sensor does not detect the items, the vibration mechanism is controlled to start to drive the loading frame to reciprocate along the first direction to flatten the items, so that the picking mechanism returns to the position fixedly arranged, and the uniform loading of the loading frame can also be achieved, and the risk that the loading port is not full but cannot continue to place the items such as vegetables and fruits is reduced.

[0103] Please refer to Figure 11 , Figure 11 is a schematic diagram of a picking device provided by the embodiment of the present application, the picking device 90 comprises: a first control module 91, configured to control the picking mechanism to place the picked items in the loading frame; a second control module 92, configured to control two infrared sensors to respectively emit infrared sensing lines; a judging module 93, configured to judge whether the two infrared sensors respectively detect the items according to the emitted infrared sensing lines; and a third control module 94, configured to, when one of the infrared sensors detects the items and the other infrared sensor does not detect the items, control the vibration mechanism to start to drive the loading frame to reciprocate along the first direction to flatten the items.

[0104] In some embodiments, the picking device 90 further comprises: a fourth control module 95, configured to enter the step of controlling the picking mechanism to place the picked items in the loading frame until the two infrared sensors do not detect the items, control the vibration mechanism to stop, and end the picking.

[0105] In some embodiments, the picking device 90 further comprises: a fifth control module 96, configured to enter the step of controlling the picking mechanism to place the picked items in the loading frame, and after a preset time length, at least one of the infrared sensors detects the items, control the vibration mechanism to stop, and end the picking.

[0106] In some embodiments, the picking device 90 further comprises: an acquisition part 901 configured to acquire detection data of the weight sensor; a first judgment part 902 configured to judge whether the detection data is less than a preset threshold, and if so, execute a first control part 903; the first control part 903 is configured to control the two infrared sensors to respectively emit infrared sensing lines; a second judgment part 904 configured to judge whether the two infrared sensors respectively detect the article and the loading frame according to the emitted infrared sensing lines, and if both the two infrared sensors do not detect the loading frame and the article, enter the first control module 91.

[0107] In some embodiments, the picking device 90 further comprises: a second control part 905 configured to control the camera unit to shoot images of the loading frame and the article in the loading frame if both the two infrared sensors detect the loading frame; a third judgment part 906 configured to judge whether the article is spread flat and whether the loading frame is full according to the images; a third control part 907 configured to control the vibration mechanism to start to drive the loading frame to reciprocate along the first direction to spread the article flat when it is judged that the loading frame is not full and the article is not spread flat; and a fourth control part 908 configured to enter the step of controlling the picking mechanism to place the picked article in the loading frame, then enter the step of acquiring the detection data of the weight sensor, and control the vibration mechanism to stop when it is judged that the loading frame is full, and the picking ends.

[0108] In some embodiments, the second control part 905 is further configured to control the infrared sensors to be turned off if both the two infrared sensors detect the loading frame.

[0109] In some embodiments, the picking device 90 further comprises: a fifth control part 909 configured to control the infrared sensors to be turned off if the detection data of the weight sensor is less than a preset value, and the preset value is less than the preset threshold.

[0110] In the embodiment of the present application, the picking mechanism is controlled by the first control module 91 to place the picked items in the loading frame; the two infrared sensors are controlled by the second control module 92 to respectively emit infrared sensing lines; the judging module 93 is used to judge whether the two infrared sensors respectively detect the items according to the emitted infrared sensing lines; and the third control module 94 is used to control the vibration mechanism to start to drive the loading frame to reciprocate along the first direction to flatten the items when one of the infrared sensors detects the items and the other infrared sensor does not detect the items, so that the picking mechanism returns to the position fixedly arranged to achieve the goal of loading the loading frame uniformly and reduce the risk that the loading port is not full but cannot continue to place the items such as vegetables and fruits.

[0111] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A picking robot, characterized in that The picking robot comprises a base, a picking mechanism, a vibrating mechanism and a loading frame. The picking mechanism is arranged on the base and is used for picking articles. The vibrating mechanism comprises a carrier, a driving member, an eccentric wheel, a connecting member and a limiting mechanism. The carrier is arranged on the base, the driving member is arranged on the base, the output shaft of the driving member is connected with the eccentric wheel, one end of the connecting member is rotatably connected with the eccentric wheel, the other end of the connecting member is rotatably connected with the carrier, and the driving member drives the carrier to reciprocate relative to the base through the eccentric wheel and the connecting member. The limiting mechanism is arranged on the side of the carrier away from the base, and the loading frame is limited by the limiting mechanism. The base is provided with sliding rails, the carrier is provided with sliding blocks, and the sliding blocks are slidingly arranged on the sliding rails, so that the carrier can reciprocate along the length direction of the sliding rails.

2. The picking robot according to claim 1, characterized in that, The number of the sliding rails is two, the two sliding rails are arranged at intervals, and the number of the sliding blocks is two, one sliding block being arranged on one sliding rail.

3. The picking robot according to claim 2, characterized in that, The side wall of the sliding rail is provided with a groove extending along the length direction of the sliding rail, the side wall of the sliding block is provided with a boss, the boss is inserted into the groove, and the boss can reciprocate along the length direction of the sliding rail.

4. The picking robot according to claim 2, characterized in that, The base is provided with two limiting bosses, the two limiting bosses are arranged at the two ends of the sliding rail along the length direction of the sliding rail, and the limiting bosses are used for limiting the maximum stroke of the sliding block relative to the sliding rail.

5. The picking robot according to claim 2, characterized in that, The limiting mechanism comprises two oppositely arranged limiting members, and the loading frame is clamped between the two limiting members.

6. The picking robot according to claim 1, characterized in that, The limiting member comprises a first wall, a second wall and a third wall connected in sequence, the first wall and the third wall are oppositely arranged, the first wall, the second wall and the third wall jointly form a limiting groove, one side of the loading frame is accommodated in the limiting groove of one of the limiting members, and the other side of the loading frame is accommodated in the limiting groove of the other limiting member.

7. The picking robot according to claim 6, characterized in that, The picking robot further comprises at least one infrared sensor, the loading frame is provided with two oppositely arranged handle openings, the handle openings are arranged at one end of the first wall away from the carrier, and the infrared sensor is arranged on the first wall corresponding to the handle openings.

8. The picking robot according to claim 7, characterized in that, The picking robot further comprises a weight sensor, the weight sensor is arranged on the carrier plate, and the weight sensor is used for detecting the weight of the loading frame and the weight of the loading frame together with the articles in the loading frame.

9. The picking robot according to any one of claims 1-8, characterized in that, The surface of the carrier facing the base is provided with a boss, and the other end of the connecting member is rotatably connected with the boss.

10. The picking robot according to any one of claims 1-8, characterized in that, ​

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