A fruit picking bionic robot suitable for complex terrain

Abstract

The present application relates to the field of agricultural technology, in particular to a fruit picking bionic robot suitable for complex terrain. The robot comprises a bottom plate and a visual mechanism, a shearing mechanism, a collection mechanism, a walking mechanism and a flight mechanism installed thereon. The visual mechanism identifies fruits, the shearing mechanism accurately shears, and the collection bin receives the fruits; the walking mechanism realizes stable walking through the driving of double rudders for the thighs and calves, and the flight mechanism realizes flight with the help of the propellers on the walking calves, and the moving direction can be controlled by adjusting the motor speed. The robot takes into account the walking and flight modes, can adapt to complex terrains such as mountains and hills, and can efficiently complete the picking of small-particle berries such as blueberries and mulberries, reduce labor intensity and cost, and promote the intelligent development of the industry.

Description

Technical Field

[0001] This invention relates to the field of agricultural technology, and in particular to a biomimetic robot for fruit harvesting suitable for complex terrain. Background Technology

[0002] Small berries such as blueberries and mulberries are highly sought after in the market due to their rich nutritional value and unique flavor, leading to a year-on-year expansion of their cultivation. These fruits mostly grow on shrubs or small trees, and their small size, dense distribution, and slender branches require a high degree of precision during harvesting. Furthermore, to ensure fruit quality and yield, their cultivation areas are often chosen in sunny, well-drained mountainous or hilly regions. These areas often feature undulating terrain, steep slopes, and uneven surfaces, posing significant challenges to harvesting operations.

[0003] Currently, the harvesting of small berries mainly relies on manual labor. Due to the complex terrain, harvesters need to frequently climb, bend over, or move on uneven ground, which is not only labor-intensive and inefficient but also poses safety hazards such as falls and cuts. In addition, the cost of manual harvesting has been increasing year by year with rising labor prices, severely restricting the large-scale development of the industry.

[0004] While various harvesting robots have been developed in the field of agricultural automation, existing technologies are mostly designed for large-scale crops grown on flat land (such as wheat, rice, and tomatoes). These robots typically use wheeled or tracked chassis and rely on flat ground for stable movement. Their structural design does not consider adaptability to complex terrains such as mountains and hills, making them prone to tipping over on sloping surfaces and difficult to accurately approach fruits distributed at different heights. At the same time, the harvesting mechanisms of existing robots are mostly optimized for large or regular-shaped crops. For small, densely distributed berries, problems such as missed harvesting and fruit damage are likely to occur, failing to meet the harvesting needs of crops such as blueberries and mulberries. Summary of the Invention

[0005] To address the technical problem that existing fruit-picking robots cannot adapt to picking small berries in complex terrain, this invention provides a biomimetic fruit-picking robot suitable for complex terrain.

[0006] Therefore, the present invention provides the following technical solution: A biomimetic robot for fruit picking in complex terrain includes a base plate, a vision mechanism, a shearing mechanism, a collection mechanism, a walking mechanism, and a flight mechanism. The vision mechanism includes a vision support and a vision lens. The vision support is mounted on the front end of the base plate, and the vision lens is mounted on the vision support. The shearing mechanism includes a shearing arm and a shearing assembly. The root of the shearing arm is mounted on the base plate, and the shearing assembly is mounted on the end of the shearing arm. The collection mechanism includes a collection arm and a collection chamber. The collection arm is mounted on the base plate, and the collection chamber is mounted on the end of the collection arm and located below the shearing assembly. The base plate is equipped with a walking mechanism on both the left and right sides. The walking mechanism includes a first walking servo, a second walking servo, a walking servo bracket, a walking thigh, and a walking calf. The second walking servo is installed on both sides of the base plate. The output ends of two adjacent second walking servos on the same side of the base plate are connected to the two sides of the same walking servo bracket. The first walking servo and the second walking servo are vertically installed on the walking servo bracket. The output end of the first walking servo is connected to the walking thigh. The end of the walking thigh is rotatably connected to the walking calf through a rotating shaft. The flight mechanism includes a flight motor and a flight propeller. The flight motor is mounted on the walking leg, and the flight propeller is mounted on the output end of the flight motor.

[0007] Furthermore, the flight mechanism also includes a fall protection motor, a fall protection propeller, and a sensor propeller. The fall protection motor is vertically mounted on the base plate, and the fall protection propeller is mounted on the output end of the fall protection motor. The base plate has a circular hole, and a fixing rod is installed in the circular hole. The sensor propeller is mounted on the fixing rod via a rotating shaft. The sensor propeller is oriented downwards, and an angular velocity sensor is installed at the axis of the sensor propeller.

[0008] Furthermore, a walking motor is installed inside the walking thigh, and a walking gear is installed at the end of the walking motor. A walking rack is slidably installed on the inner wall of the walking thigh, and the walking rack meshes with the walking gear. One end of the walking rack is connected to an inner baffle. A walking strip hole is provided on the lower side wall of the walking thigh. An arc-shaped walking guide rod is rotatably installed on the walking calf via a rotating shaft. A walking guide sleeve is fitted on the walking guide rod. The walking guide sleeve has an arc-shaped structure adapted to the walking guide rod. The end of the walking guide sleeve is connected to the inner baffle, and the walking guide sleeve passes through the walking strip hole. A bionic foot is rotatably installed at the end of the walking calf via a rotating shaft.

[0009] Furthermore, the shearing mechanism also includes a first shearing servo and a second shearing servo. The shearing arm includes a shearing upper arm and a shearing lower arm. The first shearing servo is mounted on the base plate. The root of the shearing upper arm is connected to the output end of the first shearing servo. The shearing lower arm is connected to the end of the shearing upper arm via a rotating shaft. A shearing assembly is mounted on the end of the shearing lower arm away from the shearing upper arm. A first sliding link is rotatably mounted on the shearing upper arm via a hinge support. A strip-shaped first slide groove is provided on the side of the shearing lower arm facing the shearing upper arm. First slide tracks are provided on the upper and lower inner walls of the first slide groove. First sliders are provided on the upper and lower sides of the end of the first sliding link. Two first sliders are located in corresponding first slide tracks. First guide plates are mounted on the upper and lower sides of the first sliding link. Second slide tracks are provided on the two first guide plates. A shearing bracket is mounted on the shearing upper arm. A shearing electric push rod is mounted on the shearing bracket. Second sliders are provided on the upper and lower sides of the output end of the shearing electric push rod. Two second sliders are located in corresponding second slide tracks.

[0010] Furthermore, the shearing assembly also includes a shearing housing and a second shearing servo. The shearing housing is installed at the end of the shearing arm, and the second shearing servo is installed inside the shearing housing. The output end of the second shearing servo is connected to the shearing drive gear. The bottom of the shearing housing is rotatably mounted with a first shearing jaw and a second shearing jaw via a rotating shaft. The root of the first shearing jaw and the second shearing jaw are respectively provided with a first shearing driven gear and a second shearing driven gear with the corresponding rotating shaft as the center. The second shearing driven gear meshes with the shearing drive gear, and the first shearing driven gear meshes with the second shearing driven gear.

[0011] Furthermore, the collecting arm includes a collecting upper arm, a collecting lower arm, a collecting servo motor, and a collecting electric push rod. The collecting servo motor is mounted on the base plate. The root of the collecting upper arm is connected to the output end of the collecting servo motor. The collecting lower arm is rotatably connected to the end of the collecting upper arm via a pivot. A collecting chamber is installed at the end of the collecting lower arm away from the collecting upper arm, and the height of the collecting chamber is lower than the height of the first and second shearing jaws. A second sliding link is rotatably mounted on the collecting upper arm via a hinge support. A strip-shaped second slide groove is provided on the side of the collecting lower arm facing the collecting upper arm. A third slide rail is provided on the upper and lower inner walls of the second slide groove. A third slider is provided on the upper and lower sides of the end of the second sliding link, and the two third sliders are respectively located in the corresponding third slide rails. A second guide plate is installed on both the upper and lower sides of the second sliding link, and a fourth slide rail is provided on each of the two second guide plates. A collecting bracket is installed on the collecting upper arm, and a collecting electric push rod is installed on the collecting bracket. A fourth slider is provided on both the upper and lower sides of the output end of the collecting electric push rod, and the two fourth sliders are respectively located in the corresponding fourth slide rails.

[0012] Furthermore, it also includes a sowing mechanism, which includes a seed bin, a sowing turntable, a sowing shell, and a sowing motor. The seed bin and the sowing shell are mounted on a base plate, and the sowing turntable is located inside the sowing shell. The inner bottom surface of the sowing turntable is inclined. The side wall of the sowing shell is provided with a first sowing hole, and the side wall of the sowing turntable is provided with a second sowing hole corresponding to the first sowing hole. The sowing motor is mounted on the sowing shell, and the output end of the sowing motor is connected to the axis of the sowing turntable.

[0013] Furthermore, it also includes a spraying mechanism, which includes a fertilizer bin, a power bin, and a spraying pipe. The fertilizer bin is installed on the base plate, and the outlet of the fertilizer bin is connected to the inlet of the power bin. A gear pump drive motor is installed on the power bin, and a gear pump gear is rotatably installed inside the power bin through a bearing. The shaft of the gear pump gear is connected to the output end of the gear pump drive motor, and the outlet of the power bin is connected to the spraying pipe.

[0014] Furthermore, it also includes a mixing chamber, which is installed on the base plate. The mixing chamber is equipped with fertilizer pipes, seed pipes, and mixing pipes. The input end of the fertilizer pipe is connected to the outlet of the power chamber, and the input end of the seed pipe is connected to the first sowing hole of the sowing shell. The output ends of both the fertilizer pipe and the seed pipe are connected to the input end of the mixing pipe. The spray pipe is vertically installed on the top of the mixing chamber and is connected to the mixing pipe. The top of the spray pipe is inclined with a spray nozzle, and the output end of the spray pipe is provided with a nozzle. The output end of the mixing pipe is connected to an output pipe, which is connected to two sowing pipes at the same time. Sowing servo motors are installed on both sides of the rear end of the base plate. The output end of each sowing servo motor is connected to a sowing leg, and the sowing pipe passes through the sowing leg.

[0015] Furthermore, a blocking ball is installed at the intersection of the spray pipe and the mixing pipe inside the mixing chamber. The bottom of the blocking ball is connected to a lever. The lever passes through the output pipe and the corresponding side of the mixing chamber in sequence along the direction of the mixing pipe. A blocking plate slide is set vertically in the mixing chamber corresponding to the position of the lever. A blocking plate is set at the bottom of the lever corresponding to the blocking plate slide. Two positioning slides are installed horizontally and parallel on the outer wall of the mixing chamber. Two positioning holes are provided on the lower positioning slide. A positioning bent rod is slidably placed between the two positioning slides. The horizontal part of the positioning bent rod is located between the two positioning slides and cooperates with the lever. The vertical part of the positioning bent rod cooperates with the positioning hole.

[0016] Advantages and positive effects of the present invention: This invention achieves flight mode by driving a propeller with a flight motor. The walking legs can be flexibly raised to reduce flight resistance. At the same time, the movement direction is precisely controlled by the speed difference of the flight motors on different walking legs, which can quickly cross obstacles such as ditches and steep slopes in complex terrains such as mountains and hills. After harvesting, it switches to walking mode. The second walking servo controls the up and down rotation of the walking frame to raise and lower the walking thigh. Combined with the first walking servo driving the walking thigh to move back and forth, it can walk stably in areas with gentle slopes. The combination of the two modes gives the robot a strong ability to travel in complex terrain with undulating terrain, breaking through the application limitations of traditional flat-ground harvesting equipment.

[0017] The vision mechanism equipped in this invention can accurately identify small berries. Combined with the targeted design of the shearing mechanism, it can achieve efficient shearing of small fruits such as blueberries and mulberries, reducing missed picking, mispicking, and fruit damage. At the same time, the collection bin can collect the harvested fruits in a timely manner, avoiding fruit drop and loss. Compared with manual picking, it greatly reduces labor intensity and improves work efficiency.

[0018] Combining flight and walking capabilities, it can adapt to the mobility needs of complex terrains such as mountains and hills, and accurately complete the harvesting of small berries without relying on manual climbing or bending, thus reducing safety hazards. At the same time, automated operation reduces reliance on manual labor, which helps to reduce harvesting costs in long-term planting and promotes the large-scale and intelligent development of the small berry industry. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an overall structural diagram of a fruit-picking biomimetic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0021] Figure 2 This is a structural diagram of a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention, after the shell has been disassembled.

[0022] Figure 3 This is a structural diagram of the vision mechanism of a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0023] Figure 4 This is a cross-sectional view of the sowing mechanism of a fruit-harvesting biomimetic robot suitable for complex terrain, provided in an embodiment of the present invention.

[0024] Figure 5 This is a structural diagram of the fertilizer bin and power bin of a fruit-picking biomimetic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0025] Figure 6 This is a diagram showing the internal structure of the power compartment of a biomimetic robot for fruit picking in complex terrain, provided as an embodiment of the present invention.

[0026] Figure 7 This is a structural diagram of a shearing mechanism for a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0027] Figure 8 This is an enlarged view of the drive structure of a shearing mechanism for a fruit-picking biomimetic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0028] Figure 9 This is a shearing structure diagram of a shearing mechanism for a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0029] Figure 10 This is a diagram of the internal piping structure of a hybrid compartment for a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0030] Figure 11 This is a partial enlarged cross-sectional view of the hybrid compartment of a fruit-picking biomimetic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0031] Figure 12 This is an enlarged view of the lever structure of a hybrid compartment for a fruit-picking biomimetic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0032] Figure 13 This is a driving structure diagram of a walking mechanism for a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0033] Figure 14 This is a structural diagram of the collection mechanism of a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0034] Figure 15 This is a diagram illustrating the drive structure of a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0035] Figure 16 This is a structural diagram of the walking mechanism of a fruit-picking bionic robot suitable for complex terrain, provided as an embodiment of the present invention.

[0036] Figure 17The present invention provides a seeding leg structure for a seeding mechanism of a fruit-harvesting biomimetic robot suitable for complex terrain.

[0037] Figure 18 This is an enlarged view of the anti-fall components of a biomimetic robot for fruit picking in complex terrain, provided in an embodiment of the present invention.

[0038] In the diagram: 1. Vision mechanism; 101. Vision lens; 102. Pest and disease monitoring instrument; 103. Vision support; 2. Shearing mechanism; 21. Shearing arm; 22. Shearing assembly; 23. Shearing upper arm; 24. Shearing lower arm; 25. Shearing shell; 26. Shearing drive gear; 27. First shearing jaws; 28. Second shearing jaws; 29. ​​Second shearing driven gear; 210. First sliding link; 211. First shearing servo motor; 212. Second shearing servo motor; 213. First slide rail; 214. First slide path; 215. First slider; 216. First guide plate; 217. Second slide path; 218. Shearing support; 219. Shearing electric push rod; 220. Second slider; 2 21. First shear driven gear; 3. Traveling mechanism; 31. First traveling servo motor; 32. Second traveling servo motor; 33. Traveling servo motor bracket; 34. Traveling thigh; 35. Traveling calf; 36. Traveling motor; 37. Traveling gear; 38. Traveling rack; 39. Inner baffle; 310. Traveling strip hole; 4. Seeding mechanism; 41. Seed bin; 42. Seeding turntable; 43. Seeding shell; 44. Seeding motor; 45. Seed bin bracket; 46. Second seeding hole; 47. First seeding hole; 48. Bin cover; 5. Spraying mechanism; 51. Fertilizer bin; 52. Power bin; 53. Spraying pipe; 54. Gear pump drive motor; 55. Fertilizer bin cover; 56. Gear pump gear; 57. 58. Mixing bin; 59. Fertilizer pipe; 510. Seed pipe; 511. Mixing pipe; 512. Output pipe; 513. Seeding pipe; 514. Sprayer; 515. Seeding servo motor; 516. Seeding arm; 517. Seeding leg; 518. Blocking ball; 519. Lever; 520. Blocking plate slide; 521. Blocking plate; 522. Positioning slide bar; 523. Positioning bending rod; 524. Positioning hole; 6. Base plate; 7. Shell; 8. Collection mechanism; 81. Collection arm 82. Collection arm; 83. Collection servo; 84. Collection compartment; 85. Second sliding link; 86. Second slide rail; 87. Third slide rail; 88. Third slider; 89. Second guide plate; 810. Fourth slide rail; 811. Collection bracket; 812. Collection electric push rod; 813. Fourth slider; 9. Flight mechanism; 91. Flight motor; 92. Flight propeller; 93. Fall protection motor; 94. Fall protection propeller; 95. Circular hole; 96. Fixing rod; 97. Induction propeller. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0040] This invention provides a biomimetic robot for fruit picking suitable for complex terrain, such as... Figure 1 As shown, it includes a base plate 6, a vision mechanism 1, a shearing mechanism 2, a walking mechanism 3, a seeding mechanism 4, a spraying mechanism 5, a collection mechanism 8, and a flying mechanism 9.

[0041] like Figure 3 As shown, the vision mechanism 1 includes a vision support 103, a vision lens 101, and a pest and disease monitor 102. The vision support 103 is mounted on the front end of the base plate 6, and both the vision lens 101 and the pest and disease monitor 102 are mounted on the vision support 103. The vision lens 101 provides a field of view, and the pest and disease monitor 102 monitors crops for pests and diseases.

[0042] like Figure 2 , Figures 7-9 As shown, the shearing mechanism 2 includes a shearing arm 21 and a shearing assembly 22. The shearing arm 21 includes a shearing upper arm 23 and a shearing lower arm 24. A first shearing servo motor 211 is mounted on the base plate 6 and is located on either the left or right side of the vision support 103. The root of the shearing upper arm 23 is connected to the output end of the first shearing servo motor 211. The shearing lower arm 24 is connected to the end of the shearing upper arm 23 via a rotating shaft. The shearing assembly 22 is mounted on the end of the shearing lower arm 24 away from the shearing upper arm 23. A first sliding connecting rod 210 is rotatably mounted on the shearing upper arm 23 via a hinge support. A strip-shaped first sliding groove 21 is provided on the side of the shearing lower arm 24 facing the shearing upper arm 23. 3. The upper and lower inner walls of the first slide groove 213 are provided with first slide rails 214, and the upper and lower ends of the first sliding link 210 are provided with first sliders 215, and the two first sliders 215 are respectively located in the corresponding first slide rails 214; the upper and lower sides of the first sliding link 210 are each equipped with a first guide plate 216, and the two first guide plates 216 are respectively provided with second slide rails 217; the shearing arm 23 is equipped with a shearing bracket 218, the shearing bracket 218 is equipped with a shearing electric push rod 219, and the upper and lower ends of the shearing electric push rod 219 are provided with second sliders 220; the two second sliders 220 are respectively located in the corresponding second slide rails 217.

[0043] The shearing assembly 22 includes a shearing housing 25 and a second shearing servo 212. The shearing housing 25 is installed at the end of the shearing arm 24. The second shearing servo 212 is installed inside the shearing housing 25. The output end of the second shearing servo 212 is connected to the shearing drive gear 26. The bottom of the shearing housing 25 is rotatably mounted with a first shearing jaw 27 and a second shearing jaw 28 via a rotating shaft. The root of the first shearing jaw 27 and the second shearing jaw 28 is provided with a first shearing driven gear 221 and a second shearing driven gear 29 with the corresponding rotating shaft as the center. The second shearing driven gear 29 meshes with the shearing drive gear 26, and the first shearing driven gear 221 meshes with the second shearing driven gear 29.

[0044] like Figures 14-15 As shown, the collecting mechanism 8 includes a collecting arm 81, a collecting arm 82, a collecting servo motor 83, and a collecting electric push rod 812. The collecting servo motor 83 is mounted on the base plate 6. The root of the collecting arm 81 is connected to the output end of the collecting servo motor 83. The collecting arm 82 is rotatably connected to the end of the collecting arm 81 via a pivot. A collecting chamber 84 is installed at the end of the collecting arm 82 away from the collecting arm 81. The height of the collecting chamber 84 is lower than the height of the first shearing jaw 27 and the second shearing jaw 28. A second sliding link 85 is rotatably mounted on the collecting arm 81 via a hinge support. A strip-shaped second sliding link 85 is provided on the side of the collecting arm 82 facing the collecting arm 81. The second sliding groove 86 has a third slide rail 87 on its upper and lower inner walls. The upper and lower ends of the second sliding link 85 have third sliders 88, and the two third sliders 88 are located in the corresponding third slide rails 87. The upper and lower ends of the second sliding link 85 are equipped with second guide plates 89, and the two second guide plates 89 are equipped with fourth slide rails 810. The collecting arm 81 is equipped with a collecting bracket 811, and the collecting bracket 811 is equipped with a collecting electric push rod 812. The upper and lower ends of the collecting electric push rod 812 are equipped with fourth sliders 813, and the two fourth sliders 813 are located in the corresponding fourth slide rails 810.

[0045] like Figure 1 , Figure 2 , Figure 13 and Figure 16As shown, a walking mechanism 3 is installed on both the left and right sides of the base plate 6. The walking mechanism 3 includes a first walking servo motor 31, a second walking servo motor 32, a walking servo motor bracket 33, a walking thigh 34, and a walking calf 35. The second walking servo motor 32 is installed on both sides of the base plate 6. The output ends of two adjacent second walking servo motors 32 located on the same side of the base plate 6 are connected to the two sides of the same walking servo motor bracket 33. The first walking servo motor 31 and the second walking servo motor 32 are vertically mounted on the walking servo motor bracket 33. The output end of the first walking servo motor 31 is connected to the walking thigh 34. The end of the walking thigh 34 is rotatably connected to the walking calf 35 via a rotating shaft. A walking motor 36 is installed inside the walking thigh 34. A walking gear 37 is installed at the end of the machine 36. A walking rack 38 is slidably installed on the inner wall of the walking thigh 34. The walking rack 38 meshes with the walking gear 37. One end of the walking rack 38 is connected to the inner baffle 39. A walking strip hole 310 is provided on the lower side wall of the walking thigh 34. An arc-shaped walking guide rod 311 is rotatably installed on the walking lower leg 35 through a rotating shaft. A walking guide sleeve 312 is fitted on the walking guide rod 311. The walking guide sleeve 312 is an arc-shaped structure adapted to the walking guide rod 311. The end of the walking guide sleeve 312 is connected to the inner baffle 39, and the walking guide sleeve 312 passes through the walking strip hole 310. A bionic foot 313 is rotatably installed at the end of the walking lower leg 35 through a rotating shaft.

[0046] like Figure 4 As shown, the sowing mechanism 4 includes a seed bin 41, a sowing turntable 42, a sowing housing 43, and a sowing motor 44. The seed bin 41 and the sowing housing 43 are mounted on the base plate 6. The sowing turntable 42 is located inside the sowing housing 43, and its inner bottom surface is inclined. The side wall of the sowing housing 43 is provided with a first sowing hole 47, and the side wall of the sowing turntable 42 is provided with a second sowing hole 46 corresponding to the first sowing hole 47. The sowing motor 44 is mounted on the sowing housing 43, and its output end is connected to the axis of the sowing turntable 42. The seed bin 41 is mounted on the base plate 6 via a seed bin bracket 45, and a seed bin cover 48 is detachably mounted on the top of the seed bin 41.

[0047] like Figure 2 , Figures 5-6 , Figure 10 and Figure 17As shown, the spraying mechanism 5 includes a fertilizer bin 51, a power bin 52, and a spray pipe 53. The fertilizer bin 51 is mounted on the base plate 6, and a fertilizer bin cover 55 is mounted on the top of the fertilizer bin 51. The outlet of the fertilizer bin 51 is connected to the inlet of the power bin 52. A gear pump drive motor 54 is mounted on the power bin 52. A gear pump gear 56 is rotatably mounted inside the power bin 52 via bearings. The shaft of the gear pump gear 56 is connected to the output end of the gear pump drive motor 54. The outlet of the power bin 52 is connected to the spray pipe 53. It also includes a mixing chamber 57, which is mounted on the base plate 6. The mixing chamber 57 contains a fertilizer pipe 58, a seed pipe 59, and a mixing pipe 510. The input end of the fertilizer pipe 58 is connected to the outlet of the power chamber 52, and the input end of the seed pipe 59 is connected to the first sowing hole 47 of the sowing shell 43. The output ends of both the fertilizer pipe 58 and the seed pipe 59 are connected to the input end of the mixing pipe 510. A spray pipe 53 is vertically installed on the top of the mixing chamber 57 and is connected to the mixing pipe 510. A spray nozzle 513 is inclinedly installed on the top of the spray pipe 53, and a nozzle 514 is provided at the output end of the spray pipe 513. The output end of the mixing pipe 510 is connected to the output pipe 511, and the output pipe 511 is simultaneously connected to two sowing pipes 512. Sowing servo motors 515 are installed on both sides of the rear end of the base plate 6. The output end of each sowing servo motor 515 is connected to the sowing thigh 516. The end of the sowing thigh 516 is rotatably connected to the sowing calf 517 via a rotating shaft. The sowing pipe 512 passes through the sowing thigh 516 along the direction of the corresponding sowing thigh 516, and at the same time passes through the sowing calf 517 along the direction of the corresponding sowing calf 517. The sowing position can be adjusted by the sowing servo motors 515, sowing thigh 516 and sowing calf 517.

[0048] like Figures 10-12 As shown, a blocking ball 518 is installed in the mixing chamber 57 at the intersection of the spray pipe 53 and the mixing pipe 510. The bottom of the blocking ball 518 is connected to a lever 519. The lever 519 passes through the output pipe 511 and the corresponding side of the mixing chamber 57 along the direction of the mixing pipe 510. A blocking plate slide 520 is set vertically in the mixing chamber 57 corresponding to the position of the lever 519. A blocking plate 521 is set at the bottom of the lever 519 corresponding to the blocking plate slide 520. Two positioning slide rods 522 are horizontally parallel installed on the outer wall of the mixing chamber 57. Two positioning holes 524 are provided on the lower positioning slide rod 522. A positioning bending rod 523 is slidably placed between the two positioning slide rods 522. The horizontal part of the positioning bending rod 523 is located between the two positioning slide rods 522 and cooperates with the lever 519. The vertical part of the positioning bending rod 523 cooperates with the positioning hole 524.

[0049] like Figure 2 , Figure 16 , 18As shown, the flight mechanism 9 includes a flight motor 91, a flight propeller 92, a fall arrest motor 93, and a fall arrest propeller 94. The flight motor 91 is mounted on the walking leg 35, the flight propeller 92 is mounted on the output end of the flight motor 91, the fall arrest motor 93 is vertically mounted on the base plate 6, and the fall arrest propeller 94 is mounted on the output end of the fall arrest motor 93. The base plate 6 has a circular hole 95, and a fixing rod 96 is installed in the circular hole 95. A sensing propeller 97 is mounted on the fixing rod 96 via a rotating shaft. The sensing propeller 97 is oriented downwards, and an angular velocity sensor is installed at the axis of the sensing propeller 97.

[0050] like Figures 1-2 As shown, a housing 7 is mounted on the base plate 6, and the fertilizer bin 51 and power bin 52 are located inside the housing 7. The housing 7 provides protection for the mechanisms on the base plate 6.

[0051] Working principle: During the walking process of the bionic robot, such as Figure 3 As shown, the field of view is provided by the visual lens 101, and the pest and disease monitoring instrument 102 monitors the pest and disease status of crops.

[0052] When harvesting is to be carried out, such as Figures 1-2 As shown in Figures 16 and 18, the flight motor 91 drives the flight propeller 92 to rotate, causing the walking legs 35 to lift and reduce drag during flight. By controlling the rotation speed of different flight motors 91, the robot's flight direction can be controlled. Since the sensor propeller 97 is oriented downwards, when the flight motor 91 malfunctions and causes the robot to fall, the sensor propeller 97 receives an upward wind force and rotates. When the rotation speed measured by the angular velocity sensor reaches 76 rad / s (this value can be adjusted according to the actual situation), the fall arrest motor 93 drives the fall arrest propeller 94 to rotate, ensuring the robot lands safely and avoids damage.

[0053] Once the robot flies to the designated location, such as Figure 1 , Figure 2 , Figure 7 , Figure 8 ,and Figure 9As shown, the first servo motor 211 drives the shearing arm 23 to rotate horizontally, while the shearing electric push rod 219 extends and retracts, causing its second slider 220 to move within the first guide plate 216. This pulls or pushes the first sliding link 210 to rotate around its hinge support. The end of the first sliding link 210 moves along the first slide groove 213, causing the shearing arm 24 to rotate relative to the shearing arm 23, thus moving the shearing assembly 22 to a designated position. The second shearing servo motor 212 drives the shearing drive gear 26 to rotate, which in turn drives the second shearing gear 29 to rotate, which in turn drives the first shearing driven gear 221 to rotate, realizing the relative rotation of the first shearing jaws 27 and the second shearing jaws 28, thereby achieving the shearing action on the fruit. Figure 14 , Figure 15 As shown, the collection arm 81 and collection arm 82 of the collection mechanism 8 move on the same principle as the shearing arm 24 and shearing arm 23. While shearing, the collection arm 81 and collection arm 82 drive the collection chamber 84 to the bottom of the shearing assembly 22 to collect the cut fruit.

[0054] When the collection bin 84 is full or the harvesting operation is completed, the robot is controlled to land and enter walking mode. During the walking process, such as Figure 13 As shown, the second walking servo motor 32 drives the walking thigh 34 to rotate back and forth, and the first walking servo motor 31 drives the walking servo motor bracket 33 to rotate up and down, thereby causing the walking thigh 34 to rotate up and down. The walking motor 36 causes the walking gear 47 to rotate, thereby causing the walking rack 38 to move, which in turn pushes the inner baffle 39 to move. Then, the walking guide sleeve 312 and the walking guide rod 311 drive the walking lower leg 35 to rotate relative to the walking thigh 34. Through the coordinated action of the above actions, the walking of the bionic robot is realized.

[0055] like Figure 4 As shown, when sowing is to be carried out, the seed chamber 41 is filled with seeds. The sowing motor 44 drives the sowing turntable 42 to rotate. The inner bottom wall of the sowing turntable 42 is inclined towards the second sowing hole 46. The rotation of the turntable itself drives the seeds to move, so that the seeds gain potential energy. When the second sowing hole 46 coincides with the first sowing hole 47, the seeds will enter the seed pipe 59 of the mixing chamber 57. Then, they can be directly sprinkled onto the ground through the mixing pipe 510, the output pipe 511 and the sowing pipe 512 to achieve sowing.

[0056] like Figures 10-12 As shown, when the fertilizer bin 51 is filled with fertilizer, the lever 519 is lifted upwards to allow the blocking ball 518 to enter the spray pipe 53 and block the spray pipe 53. The lever 519 is prevented from falling by the bending rod 523. The two gear pump gears 56 rotate relative to each other to pump the fertilizer into the fertilizer pipe 58. After the seeds and fertilizer are mixed in the mixing pipe 510, they pass through the output pipe 511 and the sowing pipe 512 in sequence to realize fertilization and sowing.

[0057] When the fertilizer bin 51 contains pesticides, sowing is not performed. The lever 519 drops, causing the blocking ball 518 to block the outlet of the mixing pipe 510. The mixing pipe 510 and the spray pipe 53 are then connected, and the pesticides are pumped into the spray pipe 53 and sprayed through the spray nozzle 513 and the nozzle 514. When the fertilizer bin 51 contains water, irrigation can be performed.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A biomimetic robot for fruit picking in complex terrain, characterized in that, It includes a base plate (6), a vision mechanism (1), a shearing mechanism (2), a collection mechanism (8), a walking mechanism (3), and a flight mechanism (9); The vision mechanism (1) includes a vision bracket (103) and a vision lens (101). The vision bracket (103) is mounted on the front end of the base plate (6), and the vision lens (101) is mounted on the vision bracket (103). The shearing mechanism (2) includes a shearing arm (21) and a shearing assembly (22). The root of the shearing arm (21) is mounted on the base plate (6), and the shearing assembly (22) is mounted on the end of the shearing arm (21). The collection mechanism (8) includes a collection arm and a collection chamber (84). The collection arm is mounted on the base plate (6), and the collection chamber (84) is mounted on the end of the collection arm and located below the shearing assembly (22). The base plate (6) is equipped with a walking mechanism (3) on both the left and right sides. The walking mechanism (3) includes a first walking servo (31), a second walking servo (32), a walking servo bracket (33), a walking thigh (34), and a walking calf (35). The base plate (6) is equipped with a second walking servo (32) on both sides. The output ends of two adjacent second walking servos (32) located on the same side of the base plate (6) are connected to the two sides of the same walking servo bracket (33). The first walking servo (31) and the second walking servo (32) are vertically installed on the walking servo bracket (33). The output end of the first walking servo (31) is connected to the walking thigh (34). The end of the walking thigh (34) is rotatably connected to the walking calf (35) through a rotating shaft. The flight mechanism (9) includes a flight motor (91) and a flight propeller (92). The flight motor (91) is mounted on the walking leg (35), and the flight propeller (92) is mounted on the output end of the flight motor (91). It also includes a seeding shell (43), the side wall of which is provided with a first seeding hole (47). It also includes a spraying mechanism (5), which includes a fertilizer bin (51), a power bin (52) and a spraying pipe (53). The outlet of the fertilizer bin (51) is connected to the inlet of the power bin (52), and the outlet of the power bin (52) is connected to the spraying pipe (53). It also includes a mixing chamber (57), which is installed on a base plate (6). The mixing chamber (57) is equipped with a fertilizer pipe (58), a seed pipe (59), and a mixing pipe (510). The input end of the fertilizer pipe (58) is connected to the outlet of the power chamber (52). The input end of the seed pipe (59) is connected to the first sowing hole (47) of the sowing shell (43). The output ends of the fertilizer pipe (58) and the seed pipe (59) are both connected to the input end of the mixing pipe (510). The spray pipe (53) is vertically installed on the top of the mixing chamber (57) and is connected to the mixing pipe (510). The top of the spray pipe (53) is inclined with a spray nozzle (513). The output end of the spray nozzle (513) is provided with a nozzle (514). The output end of the mixing pipe (510) is connected to the output pipe (511). The output pipe (511) is simultaneously connected to two sowing pipes (512). A blocking ball (518) is installed in the mixing chamber (57) at the intersection of the spray pipe (53) and the mixing pipe (510), and the bottom of the blocking ball (518) is connected to a lever (519). When the fertilizer bin (51) is filled with fertilizer, lift the lever (519) upward to make the blocking ball (518) enter the spray pipe (53) and block the spray pipe (53). When the fertilizer bin (51) is filled with pesticides, no sowing is carried out at this time. The lever (519) falls down, causing the blocking ball (518) to block the outlet direction of the mixing pipe (510), and the mixing pipe (510) and the spray pipe (53) are connected.

2. The fruit-picking bionic robot suitable for complex terrain according to claim 1, characterized in that, The flight mechanism (9) also includes a fall protection motor (93), a fall protection propeller (94), and an induction propeller (97). The fall protection motor (93) is vertically mounted on the base plate (6), and the fall protection propeller (94) is mounted on the output end of the fall protection motor (93). The base plate (6) has a circular hole (95), and a fixing rod (96) is installed in the circular hole (95). The induction propeller (97) is mounted on the fixing rod (96) through a rotating shaft. The induction propeller (97) is oriented downwards, and an angular velocity sensor is installed at the axis of the induction propeller (97).

3. The fruit-picking bionic robot suitable for complex terrain according to claim 1, characterized in that, A walking motor (36) is installed inside the walking thigh (34), and a walking gear (37) is installed at the end of the walking motor (36). A walking rack (38) is slidably installed on the inner wall of the walking thigh (34). The walking rack (38) meshes with the walking gear (37). One end of the walking rack (38) is connected to the inner baffle (39). A walking strip hole (310) is provided on the lower side wall of the walking thigh (34). An arc-shaped walking guide rod (311) is rotatably installed on the walking calf (35) through a rotating shaft. A walking guide sleeve (312) is fitted on the walking guide rod (311). The walking guide sleeve (312) is an arc-shaped structure adapted to the walking guide rod (311). The end of the walking guide sleeve (312) is connected to the inner baffle (39), and the walking guide sleeve (312) passes through the walking strip hole (310). A bionic foot (313) is rotatably installed at the end of the walking calf (35) through a rotating shaft.

4. A fruit-picking bionic robot suitable for complex terrain according to claim 1, characterized in that, The shearing mechanism (2) further includes a first shearing servo motor (211). The shearing arm (21) includes a shearing upper arm (23) and a shearing lower arm (24). The first shearing servo motor (211) is mounted on the base plate (6). The root of the shearing upper arm (23) is connected to the output end of the first shearing servo motor (211). The shearing lower arm (24) is connected to the end of the shearing upper arm (23) via a rotating shaft. A shearing assembly (22) is mounted on the end of the shearing lower arm (24) away from the shearing upper arm (23). A first sliding link (210) is rotatably mounted on the shearing upper arm (23) via a hinge support. A strip-shaped first groove (213) is provided on the side of the shearing lower arm (24) facing the shearing upper arm (23). The upper part of the first groove (213) The lower inner walls are provided with first slide rails (214), and the ends of the first sliding link (210) are provided with first sliders (215) on the upper and lower sides. The two first sliders (215) are respectively located in the corresponding first slide rails (214). The upper and lower sides of the first sliding link (210) are both equipped with first guide plates (216), and the two first guide plates (216) are respectively provided with second slide rails (217). The shearing arm (23) is equipped with a shearing bracket (218), and the shearing electric push rod (219) is installed on the shearing bracket (218). The upper and lower sides of the output end of the shearing electric push rod (219) are provided with second sliders (220). The two second sliders (220) are respectively located in the corresponding second slide rails (217).

5. A fruit-picking biomimetic robot suitable for complex terrain according to claim 4, characterized in that, The shearing assembly (22) also includes a shearing housing (25) and a second shearing servo (212). The shearing housing (25) is installed at the end of the shearing arm (24). The second shearing servo (212) is installed inside the shearing housing (25). The output end of the second shearing servo (212) is connected to the shearing drive gear (26). The bottom of the shearing housing (25) is rotatably mounted with a first shearing jaw (27) and a second shearing jaw (28) via a rotating shaft. The root of the first shearing jaw (27) and the second shearing jaw (28) are respectively provided with a first shearing driven gear (221) and a second shearing driven gear (29) with the corresponding rotating shaft as the center. The second shearing driven gear (29) meshes with the shearing drive gear (26), and the first shearing driven gear (221) meshes with the second shearing driven gear (29).

6. A fruit-picking biomimetic robot suitable for complex terrain according to claim 5, characterized in that, The collecting arm includes a collecting upper arm (81), a collecting lower arm (82), a collecting servo motor (83), and a collecting electric push rod (812). The collecting servo motor (83) is mounted on the base plate (6). The root of the collecting upper arm (81) is connected to the output end of the collecting servo motor (83). The collecting lower arm (82) is rotatably connected to the end of the collecting upper arm (81) via a rotating shaft. A collecting chamber (84) is installed at the end of the collecting lower arm (82) away from the collecting upper arm (81). The height of the collecting chamber (84) is lower than the height of the first cutting jaw (27) and the second cutting jaw (28). A second sliding link (85) is rotatably mounted on the collecting upper arm (81) via a hinge support. A strip-shaped second sliding link is provided on the side of the collecting lower arm (82) facing the collecting upper arm (81). The groove (86) has a third slide rail (87) on the upper and lower inner walls. The end of the second sliding link (85) has a third slider (88) on the upper and lower sides. The two third sliders (88) are located in the corresponding third slide rail (87). The upper and lower sides of the second sliding link (85) are equipped with second guide plates (89). The two second guide plates (89) are equipped with a fourth slide rail (810) opposite to each other. The collection arm (81) is equipped with a collection bracket (811). The collection bracket (811) is equipped with a collection electric push rod (812). The upper and lower sides of the output end of the collection electric push rod (812) are equipped with a fourth slider (813). The two fourth sliders (813) are located in the corresponding fourth slide rail (810).

7. A fruit-picking biomimetic robot suitable for complex terrain according to claim 1, characterized in that, It also includes a sowing mechanism (4), which includes a seed bin (41), a sowing turntable (42) and a sowing motor (44). The seed bin (41) and the sowing housing (43) are mounted on the base plate (6). The sowing turntable (42) is located inside the sowing housing (43). The inner bottom surface of the sowing turntable (42) is inclined. The side wall of the sowing turntable (42) is provided with a second sowing hole (46) corresponding to the first sowing hole (47). The sowing motor (44) is mounted on the sowing housing (43). The output end of the sowing motor (44) is connected to the axis of the sowing turntable (42).

8. A fruit-picking biomimetic robot suitable for complex terrain according to claim 1, characterized in that, The fertilizer bin (51) is installed on the base plate (6), and the gear pump drive motor (54) is installed on the power bin (52). The gear pump gear (56) is installed in the power bin (52) through the bearing. The shaft of the gear pump gear (56) is connected to the output end of the gear pump drive motor (54).

9. A fruit-picking bionic robot suitable for complex terrain according to claim 1, characterized in that, Seeding servo motors (515) are installed on both sides of the rear end of the base plate (6). The output end of each seeding servo motor (515) is connected to the seeding thigh (516), and the seeding pipe (512) is inserted inside the seeding thigh (516).

10. A fruit-picking biomimetic robot suitable for complex terrain according to claim 1, characterized in that, The lever (519) passes through the output pipe (511) and the corresponding side of the mixing chamber (57) in sequence along the direction of the mixing pipe (510). The mixing chamber (57) is provided with a blocking plate slide (520) in the vertical direction corresponding to the position of the lever (519). A blocking plate (521) is provided at the bottom of the lever (519) corresponding to the blocking plate slide (520). Two positioning slides (522) are installed horizontally and parallel on the outer wall of the mixing chamber (57). Two positioning holes (524) are provided on the lower positioning slide (522). A positioning bending rod (523) is slidably placed between the two positioning slides (522). The horizontal part of the positioning bending rod (523) is located between the two positioning slides (522) and cooperates with the lever (519). The vertical part of the positioning bending rod (523) cooperates with the positioning hole (524).

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