Fruit picking robot based on device automatic switching technology

Abstract

The invention discloses a fruit picking robot based on an automatic device switching technology, the fruit picking robot comprises a picking vehicle body and a crawler driving structure, the crawler driving structure is arranged in the picking vehicle body, the fruit picking robot further comprises a multi-stage clamping jaw picking structure arranged at the upper end of the picking vehicle body and used for picking fruits and vegetables, and a fruit and vegetable storage structure is arranged in the picking vehicle body. According to the fruit picking robot based on the device automatic switching technology, the problems that an existing fruit picking vehicle on the market is single in picking equipment and picking mode, low in picking efficiency, poor in environmental adaptability, serious in fruit damage, poor in cruising ability, single in function and the like are solved, and the fruit picking robot is based on the automatic switching modular end effector technology; the fruit picking device integrates the functions of device automatic switching, accurate picking height and angle adjustment, picking strength adjustment, autonomous path planning, positioning and navigation, intelligent control, novel weeding, branch pruning and the like, and can effectively solve most problems in an existing fruit picking device.

Description

Technical Field

[0001] This invention relates to the field of fruit picking technology, and in particular to a fruit picking robot based on automatic device switching technology. Background Technology

[0002] Fruit harvesting is a crucial link in the fruit production chain. Statistics show that labor input accounts for approximately 40% of the overall production process. It requires workers to possess not only meticulous observation skills and proficient operational techniques, but also to adopt appropriate harvesting methods based on different fruit types and varieties. Seasonal changes, weather conditions, and orchard environmental characteristics can all lead to unstable working conditions. To address these challenges, both domestic and international efforts are actively exploring automated harvesting technologies to improve operational efficiency and reduce waste.

[0003] Mechanical harvesting offers potential efficiency advantages, but in many regions, this technology is not yet widespread, and manual harvesting still dominates. Given the complexities of seasonal changes, weather conditions, and orchard environments, the timing of harvesting ripe fruit is crucial to its quality. Manual harvesting allows for selective picking based on fruit ripeness, a precision that traditional mechanical harvesting struggles to achieve. Therefore, there is an urgent need for an intelligent fruit-harvesting robot that combines advanced computer vision, artificial intelligence algorithms, and adaptive robotic arm technology to achieve efficient, precise, safe, and stable fruit harvesting, thereby improving production efficiency and meeting diverse agricultural harvesting needs.

[0004] In summary, the existing fruit picking devices still have the following technical problems: the existing fruit picking vehicles on the market have problems such as limited picking equipment and methods, low picking efficiency, poor environmental adaptability, serious fruit damage, poor battery life, and limited functions. Therefore, it is necessary to propose a fruit picking robot based on automatic device switching technology to provide a new technical solution to solve the technical problems mentioned in the above patent. Summary of the Invention

[0005] Therefore, it is necessary to provide a fruit-harvesting robot based on automatic device switching technology to address the aforementioned technical problems.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A fruit-harvesting robot based on automatic device switching technology.

[0008] The fruit-picking robot based on automatic device switching technology specifically includes a picking vehicle body and a tracked drive structure. The picking vehicle body is equipped with a tracked drive structure inside, and also includes a multi-level gripper picking structure set at the upper end of the picking vehicle body for picking fruits and vegetables. The picking vehicle body is equipped with a fruit and vegetable storage structure inside, and Mecanum wheel drive structures are symmetrically arranged at the front and rear ends of the picking vehicle body. A weeding structure is set at the bottom end of the picking vehicle body.

[0009] The multi-level gripper picking structure includes an extension adjustment component disposed at the front end of the picking vehicle body, and a gripping switching component disposed at the top of the extension adjustment component.

[0010] The transmission structure of the track drive structure is located inside the harvesting vehicle body, and the transmission part of the track drive structure is symmetrically arranged on the left and right sides of the harvesting vehicle body.

[0011] The harvesting vehicle is equipped with a lithium battery that powers the equipment, and a microcontroller located on top of the lithium battery for controlling the operation of the vehicle. The microcontroller integrates a Raspberry Pi main control system based on ROS, a microcontroller, and an OpenCV image recognition library.

[0012] The front and rear ends of the picking vehicle are fixedly connected to a front searchlight and a rear searchlight, respectively. An infrared sensor is fixedly connected to the upper end of the picking vehicle. A lidar detector is symmetrically fixedly connected to the front end of the picking vehicle. A photovoltaic power generation panel is laid on the top surface of the picking vehicle. A vision sensor is installed at the top of the multi-level gripper picking structure.

[0013] In a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, the extension adjustment assembly includes a steering guard frame fixedly installed inside the harvesting vehicle body near the front end of the harvesting vehicle body. A turbine is rotatably installed inside the steering guard frame, and a steering motor is fixedly connected to the surface of the steering guard frame. A screw is rotatably installed at the transmission end of the steering motor, and the screw is rotatably installed inside the steering guard frame. The screw is connected to the turbine via a transmission connection.

[0014] A screw is provided on the top surface of the harvesting vehicle near the front end of the harvesting vehicle. The output end of the turbine is fixedly connected to the screw. Two primary extension arm angle adjustment motors are symmetrically arranged inside the screw. The transmission ends of the two primary extension arm angle adjustment motors are respectively connected to a flip adjustment component, and the flip adjustment component is fixedly arranged inside the screw.

[0015] In a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, the output end of the flipping adjustment component is fixedly connected to a primary positioning seat, and the end of the primary positioning seat away from the flipping adjustment component is fixedly connected to a primary positioning sleeve. A primary extension arm length adjusting motor is disposed inside the primary positioning sleeve, and a first threaded rod is rotatably connected to the transmission end of the primary extension arm length adjusting motor. The end of the first threaded rod away from the primary extension arm length adjusting motor extends into the interior of the primary positioning sleeve. A primary extension sleeve is slidably disposed inside the primary positioning sleeve, and the primary extension sleeve is threadedly connected to the first threaded rod.

[0016] A hinge seat is fixedly connected to one end of the primary extension sleeve away from the primary positioning seat. A flipping shaft is rotatably installed inside the hinge seat. Secondary positioning seats are fixedly connected to both ends of the flipping shaft. A secondary extension arm angle adjustment motor is fixedly installed inside the hinge seat. The transmission end of the secondary extension arm angle adjustment motor is rotatably connected to the flipping shaft. A secondary positioning sleeve is fixedly connected to the surface of the secondary positioning seat. A secondary extension arm length adjustment motor is fixedly connected inside the secondary positioning seat. A second threaded rod is rotatably connected to the transmission end of the secondary extension arm length adjustment motor. The secondary extension sleeve is slidably installed inside the secondary positioning sleeve. The secondary extension sleeve is threadedly connected to the second threaded rod.

[0017] As a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, a harvesting structure mounting frame is fixedly connected to the end of the secondary extension sleeve away from the secondary positioning seat. The upper and lower sides of the harvesting structure mounting frame away from the secondary extension sleeve are symmetrically arranged with gripper switching storage boxes. The gripper switching storage boxes are internally connected to the harvesting structure mounting frame. A hydraulic switching mounting frame is fixedly connected to the side of the gripper switching storage box near the harvesting structure mounting frame. An avoidance groove is provided through the side of the gripper switching storage box and the side of the hydraulic switching mounting frame near each other.

[0018] In a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, a harvesting drive motor is fixedly connected to the surface of the harvesting structure mounting frame. The transmission end of the harvesting drive motor extends into the interior of the harvesting structure mounting frame. A drive helical gear is rotatably connected to the transmission end of the harvesting drive motor. A third threaded rod is rotatably provided inside the harvesting structure mounting frame. A driven helical gear is fixedly connected to the surface of the third threaded rod. The driven helical gear meshes with the drive helical gear. A harvesting telescopic sleeve is threadedly connected to the surface of the third threaded rod. A fixed magnetic chuck is fixedly connected to the end of the harvesting telescopic sleeve away from the third threaded rod. A detachable magnetic chuck is magnetically connected to the surface of the fixed magnetic chuck. A double-clamp self-driving gripper is fixedly connected to the surface of the detachable magnetic chuck.

[0019] As a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, the surface of the harvesting structure mounting frame is provided with a guide groove, and the interior of the harvesting structure mounting frame is symmetrically provided with state switching blocks. Sliding blocks are fixedly connected to the opposite sides of the state switching blocks, and the sliding blocks are slidably disposed inside the guide groove. A state switching motor is fixedly connected to the surface of the harvesting structure mounting frame, and the drive end of the state switching motor extends into the interior of the harvesting structure mounting frame. A gear is fixedly connected to the drive end of the state switching motor. The surface of the state switching block is provided with tooth grooves, and the gear meshes with the state switching block through the tooth grooves. A connecting groove is fixedly connected to the opposite sides of the state switching blocks. Two fixing blocks are fixedly connected to the surface of the harvesting telescopic sleeve, and the two fixing blocks are slidably disposed inside the two connecting grooves.

[0020] In a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, hydraulic components are respectively provided on the upper and lower sides of the harvesting structure mounting frame. Each hydraulic component includes a hydraulic pump fixedly mounted on the surface of the harvesting structure mounting frame. The output end of the hydraulic pump is provided with a hydraulic oil supply pipe, and the input end of the hydraulic pump is provided with a hydraulic oil return pipe. Hydraulic scissor lift frames are fixedly connected inside the two hydraulic switching mounting frames. The hydraulic input and output ends of the hydraulic scissor lift frames are respectively connected to the hydraulic oil supply pipe and the hydraulic oil return pipe. An adjustable support plate is fixedly connected to the surface of the hydraulic scissor lift frame at the end away from the harvesting structure mounting frame, and an adjustable support plate is slidably mounted inside the adjustable support plate. One end of the adjustable tray extends into the interior of the hydraulic switching mounting frame and is fixedly connected to the side of the hydraulic scissor lift frame away from the picking structure mounting frame. The sides of the adjustable tray that are close to each other are respectively fixedly connected to gripper switching clips. The adjustable tray is slidably disposed inside the gripper switching storage box. A three-pronged self-driving gripper is snapped into place inside the gripper switching clip. A detachable magnetic suction cup is fixedly connected to both the handle connection of the three-pronged self-driving gripper and the handle connection of the two-pronged self-driving gripper. The three-pronged gripper is used to grip spherical fruits such as apples and citrus more securely when picking them. Since the three-pronged gripper may be inconvenient when picking flat fruits such as mangoes due to different picking positions, the pliers-type gripper is more convenient.

[0021] A root and stem cutting motor is fixedly connected to the surface of the harvesting structure mounting frame. A drive shaft is rotatably connected to the output end of the root and stem cutting motor. An L-shaped cutter is fixedly connected to the surface of the drive shaft.

[0022] As a preferred embodiment of the fruit-picking robot based on automatic device switching technology provided by the present invention, an outer end leveling frame is fixedly connected inside the picking vehicle body, a gyroscope is installed inside the outer end leveling frame, a gyroscope balancing base is installed at the upper end of the gyroscope, a fruit basket is placed inside the gyroscope balancing base, and a top cover is installed at the top of the fruit basket.

[0023] As a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, a weeding motor is installed inside the harvesting vehicle body. The output end of the weeding motor extends to the bottom of the harvesting vehicle body. A weeding protective shell is fixedly connected to the bottom surface of the harvesting vehicle body. An inner sleeve is rotatably installed inside the weeding protective shell. Three weeding motors are installed inside the inner sleeve. A nylon rope is fixedly connected to the output end of the weeding motor. The high-speed rotation of the nylon rope for weeding avoids damage to the cutting tools caused by the bounce of ground gravel in traditional weeding methods, effectively reducing maintenance costs.

[0024] As a preferred embodiment of the fruit-harvesting robot based on automatic device switching technology provided by the present invention, the Mecanum wheel drive structure includes a retractable frame fixedly connected to the front and rear ends of the harvesting vehicle body. A central positioning frame is rotatably mounted inside the retractable frame. A tilting support shaft is fixedly connected inside the central positioning frame. A steering adjustment motor is fixedly connected to the top surface of the retractable frame. The drive end of the steering adjustment motor extends into the interior of the retractable frame. A first connecting rod is hinged to the drive end of the steering adjustment motor. A second connecting rod is hinged to the end of the first connecting rod away from the steering adjustment motor. A section of the second connecting rod away from the first connecting rod is hinged to the tilting support shaft. A wheel is fixedly connected to the end of the tilting support shaft away from the second connecting rod. The wheel drive motor has Mecanum wheel drive rods rotatably connected to its output ends on both sides. Mecanum wheels are fixedly connected to both ends of the Mecanum wheel drive rods. A hydraulic regulating pump is hinged inside the take-up and release frame. A third connecting rod is hinged to the output end of the hydraulic regulating pump. The end of the third connecting rod away from the hydraulic regulating pump is hinged to the inside of the take-up and release frame. A fourth connecting rod is hinged at the hinge point between the third connecting rod and the hydraulic regulating pump. The end of the fourth connecting rod away from the third connecting rod is hinged to the surface of the tilting support shaft. A suspension system is provided in the middle of the tilting support shaft. This suspension system plays a good role in buffering when the wheels are on the ground and during normal operation, avoiding serious damage to the vehicle body or wheels due to vibration.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The fruit-harvesting robot based on automatic device switching technology provided by this invention features a multi-level gripper harvesting structure. The robotic arm's end effector utilizes a hydraulic propulsion device and a magnetic suction device to automatically switch between dual-grip and triple-grip self-driven grippers. The magnetic suction device quickly secures the dual-grip and triple-grip self-driven grippers, preventing them from loosening or falling off during harvesting and ensuring stability and reliability. Furthermore, it can be equipped with other devices of corresponding specifications to perform tasks other than harvesting. This solves the problem of time-consuming and inefficient manual replacement of end effectors, reducing time costs. In addition, the integrated use of infrared sensors, lidar detectors, vision sensors, and front and rear lights ensures the feasibility of nighttime operation, enabling all-weather operation and effectively improving overall operational efficiency.

[0027] This invention provides a fruit-harvesting robot based on automatic device switching technology. The device integrates multimodal sensors (vision sensor, pressure sensor, lidar detector, infrared sensor, GPS system, speed and angular velocity sensors) and a corresponding control system (a Raspberry Pi main control system based on ROS, an STM32 microcontroller, and an OpenCV image recognition library). It utilizes SLAM, AMCL, and Dijkstra algorithms to perform map building, localization and navigation, and autonomous path planning. The main control system collects data from each sensor and control module, while the system communication module interacts with a cloud database and a mobile app in real time via Bluetooth and WiFi, enabling intelligent control and monitoring via mobile terminals. Compared to existing technologies, this robot offers a higher level of intelligence and is more convenient for operators, effectively reducing labor costs and the time and energy consumption costs associated with operational errors and idle operations in traditional machinery.

[0028] The fruit-harvesting robot provided by this invention, based on automatic device switching technology, uses flexible silicone material for its dual-clamp self-driven grippers and triple-clamp self-driven grippers. Compared to ordinary rigid grippers, this effectively reduces fruit damage. Considering that existing robots can also use flexible grippers, and that improper clamping force control can lead to fruit damage, this invention also includes a pressure sensor and control system to monitor and adjust the gripper force in real time, establishing a dual protection mechanism during harvesting to minimize fruit damage. Since the fruit basket may experience bumps and swaying due to terrain changes during transport, a series of protective measures, including adding a fruit basket cover to the top, lining the inside with foam padding, and equipping the bottom with a gyroscope balancing device, effectively prevent fruit damage and waste during transport, ensuring the quality of the fruit throughout the entire process.

[0029] The fruit-harvesting robot based on automatic device switching technology provided by this invention features a Mecanum wheel drive structure. When the wheel-track switchable chassis is running on smooth terrain, the pistons inside the hydraulic actuators of the Mecanum wheels, driven by a motor, transmit the action through mechanical transmission components such as linkages and rocker arms, enabling the landing gear to touch down and switch from tracked to wheeled mode. This allows for omnidirectional movement (straight, lateral, and rotation). When encountering complex terrain (such as rugged terrain or muddy sections), the Mecanum wheels automatically retract into the chassis (the principle is the same as the landing action). Compared to a single-mode chassis, the advantage of this dual-chassis design is its ability to flexibly switch between modes of movement according to terrain changes, reducing energy consumption and adapting to more complex road conditions. Furthermore, existing technologies are limited to picking only a single type of fruit. The product's end gripper adopts a modular design concept and also optimizes the design of the robotic arm. It can adjust the picking posture according to the different positions of the fruit through a screw and nut mechanism, a folding linkage mechanism, and a worm gear transmission. It can be seen that this product is applicable to a variety of orchard environments and has better environmental adaptability compared to existing picking technologies.

[0030] The fruit-harvesting robot based on automatic device switching technology provided by this invention utilizes a combined power supply scheme of solar photovoltaic panels and lithium batteries. This effectively combines high-energy-density batteries and environmentally friendly solar power generation. Compared with traditional fuel-fired harvesting machinery and ordinary charging-mode harvesting machinery, it not only improves the power generation efficiency of the system, effectively reduces energy consumption, but also ensures a continuous power supply, achieving a balance between energy conservation and environmental protection and high system efficiency.

[0031] In addition, the bottom of the drive chassis is equipped with a new weeding structure. The physical weeding method does not rely on chemical agents, making it more environmentally friendly and reliable. The height of the device can be adjusted in real time through the lifting mechanism, enabling simultaneous harvesting and weeding. Compared with single harvesting technology, the product has a wider range of applications. Attached Figure Description

[0032] To more clearly illustrate the solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 A schematic diagram of the overall structure of the fruit-harvesting robot based on automatic device switching technology provided by the present invention;

[0034] Figure 2 A schematic diagram of the connection structure of the fruit-picking robot body, tracked drive structure and Mecanum wheel drive structure based on automatic device switching technology provided by the present invention.

[0035] Figure 3 A schematic diagram showing the connection between the internal structure of the fruit-picking robot's harvesting vehicle and the fruit and vegetable storage structure, provided by the present invention, based on automatic device switching technology.

[0036] Figure 4 A schematic diagram of the connection structure between the weeding structure and the harvesting vehicle body of the fruit-picking robot based on automatic device switching technology provided by the present invention.

[0037] Figure 5 A schematic diagram of the multi-level gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention;

[0038] Figure 6 A rear view schematic diagram of the multi-level gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention.

[0039] Figure 7 A schematic diagram of the rotating structure and the first-stage telescopic structure in the multi-stage gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention.

[0040] Figure 8 A schematic diagram of the flipping structure and the two-stage telescopic structure in the multi-stage gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention.

[0041] Figure 9 A schematic diagram of the clamping component in the multi-level gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention.

[0042] Figure 10 A schematic diagram of the fruit-picking robot's picking structure mounting frame and gripper switching storage box based on automatic device switching technology provided by the present invention;

[0043] Figure 11 A schematic diagram of the internal structure of the multi-level gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention;

[0044] Figure 12 A schematic diagram of the internal structure of the multi-level gripper picking structure of the fruit-picking robot based on automatic device switching technology provided by the present invention;

[0045] Figure 13 A schematic diagram of the connection structure between the state switching component of the fruit-picking robot based on automatic device switching technology and the picking structure mounting frame provided by the present invention.

[0046] Figure 14 A schematic diagram of the Mecanum wheel drive structure of the fruit-harvesting robot based on automatic device switching technology provided by the present invention;

[0047] Figure 15A schematic diagram of the Mecanum wheel drive structure of the fruit-harvesting robot based on automatic device switching technology provided by the present invention;

[0048] Figure 16 The fruit-harvesting robot based on automatic device switching technology provided by this invention Figure 12 Enlarged structural diagram at point A;

[0049] Figure 17 A schematic diagram of the structure of the dual-clamp self-driving gripper of the fruit-picking robot based on automatic device switching technology provided by the present invention;

[0050] Figure 18 This is a schematic diagram of the workflow of the fruit-harvesting robot based on automatic device switching technology provided by the present invention.

[0051] The markings in the diagram are explained as follows:

[0052] 1. Harvesting vehicle body; 2. Tracked drive structure; 3. Multi-stage gripper harvesting structure; 4. Fruit and vegetable storage structure; 5. Mecanum wheel drive structure; 6. Weeding structure; 7. Lithium-ion battery; 8. Microcontroller; 9. Infrared sensor; 10. Photovoltaic panel; 11. LiDAR detector; 12. Front searchlight; 13. Rear searchlight; 14. External leveling frame; 15. Gyroscope; 16. Gyroscope balancing base; 17. Fruit basket; 18. Top cover; 19. Weeding motor; 20. Weeding protective shell; 21. Internal sleeve; 22. Weeding motor; 23. 24. Nylon rope; 25. Steering guard; 26. Turbine; 27. Steering motor; 28. Screw; 29. ​​First-stage extension arm angle adjustment motor; 30. Tilting adjustment component; 31. First-stage positioning seat; 32. First-stage positioning sleeve; 33. First-stage extension arm length adjustment motor; 34. First-stage threaded rod; 35. Hinge seat; 36. Tilting shaft; 37. Second-stage positioning seat; 38. Second-stage extension arm angle adjustment motor; 39. Second-stage positioning sleeve; 40. Second-stage extension arm length adjustment motor; 41. Second threaded rod; 42. Second-stage extension sleeve; 43. Harvesting structure mounting frame; 44. Gripper switching and storage box; 45. Hydraulic switching mounting frame; 46. Vision sensor; 85. Harvesting drive motor; 47. Drive helical gear; 48. Third threaded rod; 49. Driven helical gear; 50. Harvesting telescopic sleeve; 51. Guide groove; 52. State switching block; 53. Sliding block; 54. State switching motor; 55. Gear; 56. Tooth groove; 57. Connecting groove; 58. Fixing block; 59. Hydraulic pump; 60. Hydraulic oil supply pipe; 61. Hydraulic oil return pipe; 62. Hydraulic scissor lift frame; 63. Clearance groove; 6 4. Adjustable tray; 65. Gripper switching clamp; 67. Root and stem cutting motor; 68. Drive shaft; 69. L-shaped cutter; 70. Take-up and take-down rack; 71. Center positioning frame; 72. Tilting support shaft; 73. Steering adjustment motor; 74. First connecting rod; 75. Second connecting rod; 76. Hydraulic adjusting pump; 77. Third connecting rod; 78. Fourth connecting rod; 79. Wheel drive motor; 80. Mecanum wheel drive rod; 81. Mecanum wheel; 82. Fixed magnetic chuck; 83. Detachable magnetic chuck; 84. Double-clamp self-driven gripper; 86. Triple-clamp self-driven gripper. Detailed Implementation

[0053] 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.

[0054] As described in the background section, existing fruit picking vehicles on the market suffer from problems such as limited picking equipment and methods, low picking efficiency, poor environmental adaptability, severe fruit damage, poor battery life, and limited functionality.

[0055] To address this technical problem, the present invention provides a fruit-harvesting robot based on automatic device switching technology.

[0056] For details, please refer to Figures 1-3 The fruit-picking robot based on automatic device switching technology specifically includes a picking vehicle body 1 and a tracked drive structure 2. The picking vehicle body 1 is equipped with a tracked drive structure 2 inside, and also includes a multi-level gripper picking structure 3 set on the upper end of the picking vehicle body 1 for picking fruits and vegetables. The picking vehicle body 1 is equipped with a fruit and vegetable storage structure 4 inside. Mecanum wheel drive structures 5 are symmetrically set at the front and rear ends of the picking vehicle body 1, and a weeding structure 6 is set at the bottom end of the picking vehicle body 1.

[0057] The multi-level gripper picking structure 3 includes an extension adjustment component located at the front end of the picking vehicle body 1, and a gripping switching component located at the top of the extension adjustment component.

[0058] The transmission structure of the track drive structure 2 is located inside the harvesting vehicle body 1, and the transmission parts of the track drive structure 2 are symmetrically arranged on the left and right sides of the harvesting vehicle body 1.

[0059] The harvesting vehicle body 1 is equipped with a lithium battery 7 that powers the equipment, and a microcontroller 8 that controls the operation of the machine body. The front and rear ends of the harvesting vehicle body 1 are fixedly connected to a front searchlight 12 and a rear searchlight 13, respectively. An infrared sensor 9 is fixedly connected to the upper end of the harvesting vehicle body 1. A laser radar detector 11 is symmetrically fixedly connected to the front end of the harvesting vehicle body 1. A photovoltaic power generation panel 10 is laid on the top surface of the harvesting vehicle body 1. A vision sensor 46 is installed at the top of the multi-level gripper harvesting structure 3.

[0060] The fruit-harvesting robot based on automatic device switching technology provided by this invention, through the setting of a multi-level gripper harvesting structure 3, utilizes the coordinated work of hydraulic propulsion devices and magnetic suction devices at the end effector of the robotic arm to achieve automatic replacement of the double-grip self-driven gripper 84 and the triple-grip self-driven gripper 86. The magnetic suction device can quickly fix the double-grip self-driven gripper 84 and the triple-grip self-driven gripper 86, preventing the grippers from loosening or falling off during the harvesting process, ensuring the grippers are stable and reliable during harvesting. It can also replace other devices of the corresponding specifications to complete other tasks besides harvesting, solving the problem of time-consuming and inefficient manual intervention in passively replacing the end effector, reducing time costs. In addition, the infrared sensor 9 is integrated with the lidar detector 11, the vision sensor 46, and the front and rear lights of the vehicle body, ensuring the feasibility of nighttime operation, so as to achieve all-weather operation and effectively improve the overall operation efficiency.

[0061] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0062] Example 1:

[0063] Please refer to Figures 9-18 A fruit-picking robot based on automatic device switching technology includes a picking vehicle body 1 and a tracked drive structure 2. The picking vehicle body 1 is equipped with the tracked drive structure 2 inside, and also includes a multi-level gripper picking structure 3 set on the upper end of the picking vehicle body 1 for picking fruits and vegetables. The picking vehicle body 1 is equipped with a fruit and vegetable storage structure 4 inside, and Mecanum wheel drive structures 5 are symmetrically arranged at the front and rear ends of the picking vehicle body 1. The bottom end of the picking vehicle body 1 is equipped with a weeding structure 6.

[0064] The multi-level gripper picking structure 3 includes an extension adjustment component located at the front end of the picking vehicle body 1, and a gripping switching component located at the top of the extension adjustment component.

[0065] The transmission structure of the track drive structure 2 is located inside the harvesting vehicle body 1, and the transmission parts of the track drive structure 2 are symmetrically arranged on the left and right sides of the harvesting vehicle body 1.

[0066] The harvesting vehicle body 1 is equipped with a lithium battery 7 that powers the equipment, and a microcontroller 8 that controls the operation of the machine body. The front and rear ends of the harvesting vehicle body 1 are fixedly connected to a front searchlight 12 and a rear searchlight 13, respectively. An infrared sensor 9 is fixedly connected to the upper end of the harvesting vehicle body 1. A laser radar detector 11 is symmetrically fixedly connected to the front end of the harvesting vehicle body 1. A photovoltaic power generation panel 10 is laid on the top surface of the harvesting vehicle body 1. A vision sensor 46 is installed at the top of the multi-level gripper harvesting structure 3.

[0067] Specifically, a harvesting structure mounting frame 43 is fixedly connected to the end of the secondary extension sleeve 42 away from the secondary positioning seat 37. A gripper switching storage box 44 is symmetrically arranged on the upper and lower sides of the end of the harvesting structure mounting frame 43 away from the secondary extension sleeve 42. The gripper switching storage box 44 is internally connected to the harvesting structure mounting frame 43. A hydraulic switching mounting frame 45 is fixedly connected to the side of the gripper switching storage box 44 near the harvesting structure mounting frame 43. An avoidance groove 63 is provided through the side of the gripper switching storage box 44 and the side of the hydraulic switching mounting frame 45 near the gripper switching storage box 44.

[0068] Specifically, a harvesting drive motor 85 is fixedly connected to the surface of the harvesting structure mounting frame 43. The transmission end of the harvesting drive motor 85 extends into the interior of the harvesting structure mounting frame 43. A drive helical gear 47 is rotatably connected to the transmission end of the harvesting drive motor 85. A third threaded rod 48 is rotatably provided inside the harvesting structure mounting frame 43. A driven helical gear 49 is fixedly connected to the surface of the third threaded rod 48. The driven helical gear 49 meshes with the drive helical gear 47. A harvesting telescopic sleeve 50 is threadedly connected to the surface of the third threaded rod 48. A fixed magnetic chuck 82 is fixedly connected to the end of the harvesting telescopic sleeve 50 away from the third threaded rod 48. A detachable magnetic chuck 83 is magnetically connected to the surface of the fixed magnetic chuck 82. A double-clamp self-driving gripper 84 is fixedly connected to the surface of the detachable magnetic chuck 83.

[0069] Specifically, the surface of the harvesting structure mounting frame 43 is provided with a guide groove 51, and the interior of the harvesting structure mounting frame 43 is symmetrically provided with state switching blocks 52. The sides of the state switching blocks 52 that are far apart from each other are respectively fixedly connected with sliding blocks 53. The sliding blocks 53 are slidably disposed inside the guide groove 51. The surface of the harvesting structure mounting frame 43 is fixedly connected with a state switching motor 54. The transmission end of the state switching motor 54 extends into the interior of the harvesting structure mounting frame 43. The transmission end of the state switching motor 54 is fixedly connected with a gear 55. The surface of the state switching block 52 is provided with a toothed groove 56. The gear 55 meshes with the state switching block 52 through the toothed groove 56. The sides of the state switching blocks 52 that are close to each other are fixedly connected with a connecting groove 57. The surface of the harvesting telescopic sleeve 50 is fixedly connected with two fixing blocks 58. The two fixing blocks 58 are respectively slidably disposed inside the two connecting grooves 57.

[0070] Specifically, hydraulic components are respectively installed on the upper and lower sides of the harvesting structure mounting frame 43. The hydraulic components include a hydraulic pump 59 fixedly installed on the surface of the harvesting structure mounting frame 43, a hydraulic oil supply pipe 60 installed at the output end of the hydraulic pump 59, and a hydraulic oil return pipe 61 installed at the input end of the hydraulic pump 59. Hydraulic scissor lift frames 62 are fixedly connected inside the two hydraulic switching mounting frames 45 respectively. The hydraulic input end and hydraulic output end of the hydraulic scissor lift frame 62 are connected to the hydraulic oil supply pipe 60 and the hydraulic oil return pipe 61 respectively. An adjustable support plate is fixedly connected to the surface of the hydraulic scissor lift frame 62 at the end away from the harvesting structure mounting frame 43. 64. An adjustable tray 64 is slidably provided inside the adjustable tray 64. One end of the adjustable tray 64 extends into the interior of the hydraulic switching mounting frame 45 and is fixedly connected to the side of the hydraulic scissor lift frame 62 away from the harvesting structure mounting frame 43. The sides of the adjustable tray 64 that are close to each other are respectively fixedly connected to the gripper switching clips 65. The adjustable tray 64 is slidably provided inside the gripper switching storage box 44. The gripper switching clip 65 is fitted with a three-clamp self-driven gripper 86. The handle connection of the three-clamp self-driven gripper 86 and the handle connection of the two-clamp self-driven gripper 84 are both fixedly connected to a detachable magnetic chuck 83.

[0071] With the above structural design, assuming that the upper end of the fixed magnetic chuck 82 is equipped with a double-clamp self-driven gripper 84 and the double-clamp self-driven gripper 84 is in the picking position, the vision sensor 46 identifies the corresponding fruit characteristics and transmits the data to the microcontroller 8. When it is necessary to replace the end gripper, the control system selects the appropriate gripper for replacement according to the different fruit types and transmits the switching signal to the microcontroller 8 to control the corresponding motor action. The microcontroller 8 controls the state switching motor 54 to start the drive gear 55 to rotate, thereby driving the state switching block 52 to slide inside the picking structure mounting frame 43 in conjunction with the sliding block 53, thereby pushing the sliding block 53 to the limit of one end of the guide groove 51. At the same time as the state switching block 52 moves, the fixed block 58 moves into the connection groove 57 and engages.

[0072] Once the connecting groove 57 and the fixing block 58 are connected, the picking drive motor 85 is activated. The picking drive motor 85 drives the driving helical gear 47 to rotate. The driving helical gear 47, in conjunction with the driven helical gear 49, drives the third threaded rod 48 to rotate inside the picking structure mounting frame 43. Due to the limiting of the fixing block 58 by the connecting groove 57 inside the tooth groove 56, the picking telescopic sleeve 50 is driven by the third threaded rod 48 while moving forward in a straight line at the center of the two driving helical gears 47. This causes the double-clamp self-driven gripper 84 and the picking telescopic sleeve 50 to move along a predetermined track from the picking position to the switching position.

[0073] After moving to the fixed switching position, if there is no double-clamp self-driven clamp 84 or triple-clamp self-driven clamp 86 inside the upper clamp switching storage box 44, the buckle push plate in the lower slot holds the double-clamp self-driven clamp 84 or triple-clamp self-driven clamp 86. The upper hydraulic pump 59 is turned on to recover the oil from the hydraulic cylinder inside the hydraulic scissor lift frame 62 through the hydraulic return oil pipe 61. At this time, the stroke of the output end of the hydraulic cylinder inside the hydraulic scissor lift frame 62 is reduced, thereby driving the top of the hydraulic scissor lift frame 62 to descend. As the hydraulic scissor lift frame 62 descends, the adjustable support plate 64 slides against the inner wall of the clearance groove 63. At this time, the bottom surface of the top adjustable support plate 64... The detachable magnetic chuck 83 at the connection end of the gripper switching clamp 65 and the double-clamp self-driven gripper 84 is engaged. The microcontroller 8 controls the power supply unit to supply power to the fixed magnetic chuck 82. At this time, the fixed magnetic chuck 82 and the detachable magnetic chuck 83 lose their magnetic connection. The hydraulic pump 59 at the top controls the hydraulic oil supply pipe 60 to deliver hydraulic oil to the hydraulic cylinder inside the hydraulic scissor lift frame 62, so that the sliding block 53 extends inside the hydraulic switching mounting frame 45. While the clearance groove 63 extends, its own top end rises, and then the adjustable support plate 64 and the gripper switching clamp 65 rise to drive the double-clamp self-driven gripper 84 to move into the gripper switching storage box 44.

[0074] After completion, the hydraulic pump 59 at the bottom is activated. The hydraulic pump 59 recovers the hydraulic oil inside the hydraulic pump of the hydraulic scissor lift frame 62, thereby causing the output end of the hydraulic pump inside the hydraulic scissor lift frame 62 to retract, causing the bottom end of the bottom hydraulic scissor lift frame 62 to retract. At the same time, the bottom adjustable support plate 64 is driven to rise inside the clearance groove 63, so that the fixed magnetic suction cup 82 on the surface of the three-clamp self-driven gripper 86 inside the top gripper switching clamp 65 of the adjustable support plate 64 is attached to the detachable magnetic suction cup 83. The root and stem cutting motor 67 is activated, which drives the L-shaped cutter 69 to rotate through the transmission shaft 68, so that the L-shaped cutter 69 is at the front end of the three-clamp self-driven gripper 86, and the harvesting is started. The drive motor 85 drives the drive helical gear 47 to cooperate with the driven helical gear 49 to drive the third threaded rod 48 to rotate. While the third threaded rod 48 rotates, the picking telescopic sleeve 50 and the fixed block 58 slide forward at the center of the state switching block 52, thereby causing the picking telescopic sleeve 50 to push the fixed magnetic chuck 82 and the detachable magnetic chuck 83 to stick together. Since the L-shaped cutter 69 is at the front end of the three-clamp self-driven gripper 86, the fixed magnetic chuck 82 and the detachable magnetic chuck 83 are pressed together by the cooperation of the picking telescopic sleeve 50 and the L-shaped cutter 69. At this time, the microcontroller 8 controls the power supply unit to supply power to the fixed magnetic chuck 82 so that the three-clamp self-driven gripper 86 is connected to the detachable magnetic chuck 83 through the magnetism of the fixed magnetic chuck 82 and the detachable magnetic chuck 83.

[0075] After completion, the bottom hydraulic pump 59 delivers hydraulic oil to the hydraulic pump inside the bottom hydraulic scissor lift frame 62 through the hydraulic oil supply pipe 60, thereby causing the hydraulic scissor lift frame 62 to extend downward and move the adjustable pallet 64 and the gripper switching clamp 65 into the bottom gripper switching storage box 44. In this way, the switching between the double-clamp self-driven gripper 84 and the triple-clamp self-driven gripper 86 can be completed.

[0076] Example 2:

[0077] The fruit-harvesting robot based on automatic device switching technology provided in Example 1 has been further optimized, specifically, as follows: Figures 14-15 As shown, a root and stem cutting motor 67 is fixedly connected to the surface of the harvesting structure mounting frame 43, and a drive shaft 68 is rotatably connected to the output end of the root and stem cutting motor 67. An L-shaped cutter 69 is fixedly connected to the surface of the drive shaft 68.

[0078] Specifically, the Mecanum wheel drive structure 5 includes a take-up and take-down frame 70 fixedly connected to the front and rear ends of the harvesting vehicle body 1. A center positioning frame 71 is rotatably mounted inside the take-up and take-down frame 70. A tilting support shaft 72 is fixedly connected inside the center positioning frame 71. A steering adjustment motor 73 is fixedly connected to the top surface of the take-up and take-down frame 70. The drive end of the steering adjustment motor 73 extends into the interior of the take-up and take-down frame 70. A first connecting rod 74 is hinged to the drive end of the steering adjustment motor 73. A second connecting rod 75 is hinged to the end of the first connecting rod 74 away from the steering adjustment motor 73. A section of the second connecting rod 75 away from the first connecting rod 74 is hinged to the tilting support shaft 72. The tilting support shaft 72 is located away from the second connecting rod 74. One end of the connecting rod 75 is fixedly connected to a wheel drive motor 79. The output ends of the wheel drive motor 79 on both sides are rotatably connected to Mecanum wheel drive rods 80. Mecanum wheels 81 are fixedly connected to both ends of the Mecanum wheel drive rods 80. A hydraulic regulating pump 76 is hinged inside the take-up and release frame 70. A third connecting rod 77 is hinged to the output end of the hydraulic regulating pump 76. The end of the third connecting rod 77 away from the hydraulic regulating pump 76 is hinged to the inside of the take-up and release frame 70. A fourth connecting rod 78 is hinged at the hinge point between the third connecting rod 77 and the hydraulic regulating pump 76. The end of the fourth connecting rod 78 away from the third connecting rod 77 is hinged to the surface of the flip support shaft 72.

[0079] Through the above structural design, the microcontroller 8 and the control system work together to control the track drive structure 2 and the Mecanum wheel drive structure 5. The power generated by the motor drives the track through belt transmission. Assuming that the track is initially moving, the lidar detector 11 senses changes in the surrounding environment in real time. If it encounters flat ground, the lidar detector 11 detects the terrain change and transmits the captured road image signal to the control system. The control system's hydraulic regulating pump 76 supplies high-pressure oil to push the piston inside the retraction actuator cylinder to move. This piston rotates around the hinge point via the third connecting rod 77, the fourth connecting rod 78, and other components, causing the tilting support shaft 72 to extend downwards. Under the combined action of gravity and the hydraulic regulating pump 76, the tilting support shaft 72 gradually extends, and the wheel moves downwards until it lands smoothly. At the same time, the first connecting rod at the upper end of the tilting support shaft 72... After the lever 74 and the second link 75 flip inward, the flip support shaft 72 and the steering adjustment motor 73 are kept coaxial. At this time, it changes to the form of a Mecanum wheel and can move in all directions. The microcontroller 8 then controls the steering adjustment motor 73 and the wheel drive motor 79 on the Mecanum wheel to drive the corresponding set of wheels to move and steer. When the lidar detector 11 detects that the road surface is a complex terrain and the wheels need to be retracted, the control system controls the hydraulic regulating pump 76 to reduce the oil supply. Due to the reduced pressure, the piston moves in the opposite direction, driving the first link 74, the second link 75 and other components connected to the inside of the retraction frame 70, so that the landing gear rotates around the hinge point, allowing the Mecanum wheel 81 to move upward and gradually retract to a suitable position in front and behind the fuselage, completing the process of switching the mode of travel, and then the tracked travel can be resumed.

[0080] Example 3:

[0081] The fruit-harvesting robot based on automatic device switching technology provided in Example 1 has been further optimized, specifically, as follows: Figures 2-9 As shown, the interior of the harvesting vehicle 1 is equipped with a lithium battery 7 that supplies power to the equipment, and a microcontroller 8 located on the upper end of the lithium battery 7 for controlling the cooperation of the machine body. The front and rear ends of the harvesting vehicle 1 are respectively fixedly connected to a front searchlight 12 and a rear searchlight 13. An infrared sensor 9 is fixedly connected to the upper end of the harvesting vehicle 1. A laser radar detector 11 is symmetrically fixedly connected to the front end of the harvesting vehicle 1. A photovoltaic power generation panel 10 is laid on the top surface of the harvesting vehicle 1. A vision sensor 46 is set at the top of the multi-level gripper harvesting structure 3.

[0082] Specifically, the extended adjustment assembly includes a steering guard 24 fixedly installed inside the harvesting vehicle body 1 near the front end of the harvesting vehicle body 1. A turbine 25 is rotatably installed inside the steering guard 24. A steering motor 26 is fixedly connected to the surface of the steering guard 24. A screw 27 is rotatably installed at the transmission end of the steering motor 26. The screw 27 is rotatably installed inside the steering guard 24 and is connected to the turbine 25 in a transmission manner.

[0083] A screw 27 is provided on the top surface of the harvesting vehicle body 1 near the front end of the harvesting vehicle body 1. The output end of the top of the turbine 25 is fixedly connected to the screw 27. Two first-stage extension arm angle adjustment motors 28 are symmetrically arranged inside the screw 27. The transmission ends of the two first-stage extension arm angle adjustment motors 28 are respectively connected to the flip adjustment component 29, and the flip adjustment component 29 is fixedly installed inside the screw 27.

[0084] Specifically, a primary positioning seat 30 is fixedly connected to the output end of the flip adjustment component 29. A primary positioning sleeve 31 is fixedly connected to the end of the primary positioning seat 30 away from the flip adjustment component 29. A primary extension arm length adjustment motor 32 is installed inside the primary positioning sleeve 31. A first threaded rod 33 is rotatably connected to the transmission end of the primary extension arm length adjustment motor 32. The end of the first threaded rod 33 away from the primary extension arm length adjustment motor 32 extends into the interior of the primary positioning sleeve 31. A primary extension sleeve 34 is slidably installed inside the primary positioning sleeve 31. The primary extension sleeve 34 is threadedly connected to the first threaded rod 33.

[0085] A hinge seat 35 is fixedly connected to one end of the primary extension sleeve 34 away from the primary positioning seat 30. A flip shaft 36 is rotatably installed inside the hinge seat 35. A secondary positioning seat 37 is fixedly connected to both ends of the flip shaft 36. A secondary extension arm angle adjustment motor 38 is fixedly installed inside the hinge seat 35. The transmission end of the secondary extension arm angle adjustment motor 38 is rotatably connected to the flip shaft 36. A secondary positioning sleeve 39 is fixedly connected to the surface of the secondary positioning seat 37. A secondary extension arm length adjustment motor 40 is fixedly connected inside the secondary positioning seat 37. A second threaded rod 41 is rotatably connected to the transmission end of the secondary extension arm length adjustment motor 40. The secondary extension sleeve 42 is slidably installed inside the secondary positioning sleeve 39. The secondary extension sleeve 42 is threadedly connected to the second threaded rod 41.

[0086] Through the above structural design, during the harvesting process, the vision sensor 46 transmits information such as the geometric shape, size, and ripeness of the fruit to the Raspberry Pi ROS control system for analysis and processing. The control system then transmits the signal to the microcontroller 8, which adjusts the torque and speed of the two end gripper motors to within the numerical range set by the control system. This relatively small pre-clamping force ensures that the end grippers move slowly when approaching the fruit, achieving soft-start control. When the vision sensor 46 detects that the inner end of the gripper touches the fruit surface, the pressure sensor converts the current clamping force value into an electronic analog signal and transmits it to the ROS control system. This signal is then transmitted to the microcontroller 8, which controls the end gripper motors to increase force. The pressure sensor monitors the clamping force value changes in real time and converts the clamping force into an electronic analog signal, which is then transmitted back to the control system. Because the control system sets different safe clamping force values ​​for different types of harvestable fruit, the pressure sensor sends a signal when it detects that the force value has reached each set safe clamping force value. The control system then receives the signal and, depending on the type of fruit, controls the internal motors of the grippers via the microcontroller 8 to either continue increasing force or stop rotating.

[0087] When the clamping force is the same as the force value set for the fruit type, the double-clamp self-driven jaw 84 or the triple-clamp self-driven jaw 86 will no longer apply clamping force. The control system will then select either the ordinary L-shaped cutter 69 for cutting and picking or the combination of jaw self-rotation and blade cutting for picking, depending on the fruit type.

[0088] ① The ordinary root and stem cutter cuts off the picking method. After determining the clamping state, the root and stem cutting motor 67 on the right side drives the rotary L-shaped cutter 69 through the transmission shaft 68 to cut off the fruit branches and complete the picking action.

[0089] ② A combined picking method of gripper rotation and blade cutting: The left-side picking drive motor 85 drives the third threaded rod 48 to rotate, causing the gripper to rotate as a whole, continuously twisting the fruit's rootstock until it breaks. However, because the force of the gripper rotation may be too great, causing other fruits on the tree to fall off, after the rotation reaches a certain force, the L-shaped cutter 69 will cut off the branch, completing the picking. This method is suitable for picking environments where branches are not easily cut and cannot be completed using only ordinary rootstock cutters. After the gripper picks the fruit 17, it places the fruit in a fruit basket 17 lined with foam padding before moving to the next picking point until the fruit basket is full. If the robot is operating at night, and the fruit at a given location has been fully harvested, the front and rear searchlights 12 and 13 are turned on to provide necessary lighting. The GPS system then acquires the current location information, while the lidar detector 11 collects road surface images and sends them back to the ROS control system. The system communication module interacts with a mobile app, mini-program, and control console via Bluetooth and WiFi, allowing operators to monitor and control the robot's operation in real time. Algorithms such as SLAM and AMCL are used for map building, localization, navigation, and path planning. The infrared sensor 9 then uses thermal radiation detection technology to compare temperature characteristics and estimate distances to accurately locate fruits and obstacles. Data is transmitted in real time to the control system for in-depth analysis and control. The vision sensor 46 then uses the OpenCV image recognition library and multispectral and threshold segmentation technologies, along with target detection algorithms, to scan fruit tree images and accurately identify fruit type, size, and maturity. Meanwhile, since the photovoltaic power generation is almost entirely based on solar energy during the day, when sunlight shines on the photovoltaic panel 10, the semiconductor material in the photovoltaic panel 10 absorbs photons, allowing the internal electrons to gain energy and generate electron-hole pairs. Under the action of the photovoltaic effect, these electrons and holes will move towards the two poles of the lithium battery 7 under the action of the electric field inside the photovoltaic panel 10, forming a potential difference. In this way, the photovoltaic panel 10 converts solar energy into direct current, so it can ensure that the battery has sufficient power and can ensure continuous harvesting even in extreme weather or at night.

[0090] Example 4:

[0091] The fruit-harvesting robot based on automatic device switching technology provided in Example 1 has been further optimized, specifically, as follows: Figures 2-6 As shown, an outer end leveling frame 14 is fixedly connected inside the picking vehicle body 1. A gyroscope 15 is installed inside the outer end leveling frame 14. A gyroscope balancing base 16 is installed at the upper end of the gyroscope 15. A fruit basket 17 is placed inside the gyroscope balancing base 16. A top cover 18 is installed at the top of the fruit basket 17.

[0092] Specifically, a weeding motor 19 is installed inside the harvesting vehicle body 1. The output end of the weeding motor 19 extends to the bottom of the harvesting vehicle body 1. A weeding protective shell 20 is fixedly connected to the bottom surface of the harvesting vehicle body 1. An inner sleeve 21 is rotatably installed inside the weeding protective shell 20. Three weeding motors 22 are installed inside the inner sleeve 21. A nylon rope 23 is fixedly connected to the output end of the weeding motor 22.

[0093] Through the above structural design, if the terrain is complex, a top cover 18 can be added to prevent the fruit from falling off due to bumps during transportation. The gyroscope 15 in the middle of the gyroscope balance base 16 of the fruit basket 17 contains a motor and sensors to receive signals from the control system and the microcontroller 8 in real time. It uses angle and angular velocity sensors to accurately detect the tilt angle, angular velocity and vibration frequency of the fruit basket 17, and promptly judges the degree of bumps and swaying of the fruit basket 17 when traveling on different terrains. The control system combines the preset balance threshold. When the gyroscope 15 encounters an external force, it will generate a reverse torque to maintain the balance of the fruit basket 17 and ensure that the fruit will not be seriously damaged due to bumps or vibrations during transportation.

[0094] The system collects road images using a lidar detector 11. When weeds are detected, the control system receives a signal from the lidar detector 11 and controls the top cover 18 inside the weeding device via a microcontroller 8 to drive the weeding protective shell 20 to extend and retract to a suitable position. Inside the weeding protective shell 20 are three independent weeding motors 22, and each weeding motor 22 has three nylon ropes 23 mounted on its shaft for cutting weeds.

Claims

1. A fruit-picking robot based on automatic device switching technology, comprising a picking vehicle body (1) and a tracked drive structure (2), wherein the picking vehicle body (1) is provided with a tracked drive structure (2), characterized in that; It also includes a multi-level gripper picking structure (3) set on the upper end of the picking vehicle body (1) for picking fruits and vegetables, a fruit and vegetable storage structure (4) is set inside the picking vehicle body (1), a Mecanum wheel drive structure (5) is symmetrically set at the front and rear ends of the picking vehicle body (1), and a weeding structure (6) is set at the bottom end of the picking vehicle body (1). The multi-level gripper picking structure (3) includes an extension adjustment component disposed at the front end of the picking vehicle body (1), and a gripping switching component disposed at the top of the extension adjustment component. The transmission structure of the track drive structure (2) is located inside the harvesting vehicle body (1), and the transmission part of the track drive structure (2) is symmetrically arranged on the left and right sides of the harvesting vehicle body (1). The harvesting vehicle body (1) is equipped with a lithium battery (7) that supplies power to the equipment, and a microcontroller (8) located on the upper end of the lithium battery (7) for controlling the cooperation of the machine body. The front and rear ends of the harvesting vehicle body (1) are respectively fixedly connected to a front searchlight (12) and a rear searchlight (13). The upper end of the harvesting vehicle body (1) is fixedly connected to an infrared sensor (9). The front end of the harvesting vehicle body (1) is symmetrically fixedly connected to a laser radar detector (11). The top surface of the harvesting vehicle body (1) is covered with a photovoltaic power generation panel (10). The top of the multi-level gripper harvesting structure (3) is equipped with a vision sensor (46).

2. The fruit-harvesting robot based on automatic device switching technology according to claim 1, characterized in that, The extension adjustment assembly includes a steering guard (24) fixedly installed inside the harvesting vehicle body (1) near the front end of the harvesting vehicle body (1). A turbine (25) is rotatably installed inside the steering guard (24). A steering motor (26) is fixedly connected to the surface of the steering guard (24). A screw (27) is rotatably installed at the transmission end of the steering motor (26). The screw (27) is rotatably installed inside the steering guard (24). The screw (27) is connected to the turbine (25) in a transmission manner. A screw (27) is provided on the top surface of the harvesting vehicle body (1) near the front end of the harvesting vehicle body (1). The output end of the top of the turbine (25) is fixedly connected to the screw (27). Two first-stage extension arm angle adjustment motors (28) are symmetrically arranged inside the screw (27). The transmission ends of the two first-stage extension arm angle adjustment motors (28) are respectively connected to a flip adjustment component (29), and the flip adjustment component (29) is fixedly arranged inside the screw (27).

3. The fruit-harvesting robot based on automatic device switching technology according to claim 2, characterized in that, The output end of the flip adjustment component (29) is fixedly connected to a primary positioning seat (30). The end of the primary positioning seat (30) away from the flip adjustment component (29) is fixedly connected to a primary positioning sleeve (31). A primary extension arm length adjustment motor (32) is provided inside the primary positioning sleeve (31). The transmission end of the primary extension arm length adjustment motor (32) is rotatably connected to a first threaded rod (33). The end of the first threaded rod (33) away from the primary extension arm length adjustment motor (32) extends into the interior of the primary positioning sleeve (31). A primary extension sleeve (34) is slidably provided inside the primary positioning sleeve (31). The primary extension sleeve (34) is threadedly connected to the first threaded rod (33). The first-stage extension sleeve (34) is fixedly connected to a hinge seat (35) at one end away from the first-stage positioning seat (30). A flip shaft (36) is rotatably arranged inside the hinge seat (35). A second-stage positioning seat (37) is fixedly connected to both ends of the flip shaft (36). A second-stage extension arm angle adjustment motor (38) is fixedly arranged inside the hinge seat (35). The transmission end of the second-stage extension arm angle adjustment motor (38) is rotatably connected to the flip shaft (36). A second-stage positioning sleeve (39) is fixedly connected to the surface of the second-stage positioning seat (37). A second-stage extension arm length adjustment motor (40) is fixedly connected inside the second-stage positioning seat (37). A second threaded rod (41) is rotatably connected to the transmission end of the second-stage extension arm length adjustment motor (40). The second-stage extension sleeve (42) is slidably arranged inside the second-stage positioning sleeve (39). The second-stage extension sleeve (42) is threadedly connected to the second threaded rod (41).

4. The fruit-harvesting robot based on automatic device switching technology according to claim 3, characterized in that, The secondary extension sleeve (42) is fixedly connected to a harvesting structure mounting frame (43) at one end away from the secondary positioning seat (37). The upper and lower sides of the harvesting structure mounting frame (43) away from the secondary extension sleeve (42) are symmetrically provided with gripper switching storage boxes (44). The gripper switching storage boxes (44) are internally connected to the harvesting structure mounting frame (43). The side of the gripper switching storage box (44) close to the harvesting structure mounting frame (43) is fixedly connected to a hydraulic switching mounting frame (45). The side of the gripper switching storage box (44) close to the hydraulic switching mounting frame (45) is provided with a clearance groove (63).

5. The fruit-harvesting robot based on automatic device switching technology according to claim 4, characterized in that, A picking drive motor (85) is fixedly connected to the surface of the picking structure mounting frame (43). The transmission end of the picking drive motor (85) extends into the interior of the picking structure mounting frame (43). A driving helical gear (47) is rotatably connected to the transmission end of the picking drive motor (85). A third threaded rod (48) is rotatably provided inside the picking structure mounting frame (43). A driven helical gear (49) is fixedly connected to the surface of the third threaded rod (48). The driven helical gear (49) meshes with the driving helical gear (47). A picking telescopic sleeve (50) is threadedly connected to the surface of the third threaded rod (48). A fixed magnetic chuck (82) is fixedly connected to the end of the picking telescopic sleeve (50) away from the third threaded rod (48). A detachable magnetic chuck (83) is magnetically connected to the surface of the fixed magnetic chuck (82). A double-clamp self-driving gripper (84) is fixedly connected to the surface of the detachable magnetic chuck (83).

6. The fruit-harvesting robot based on automatic device switching technology according to claim 5, characterized in that, The surface of the harvesting structure mounting frame (43) is provided with a guide groove (51). Symmetrical state switching blocks (52) are arranged inside the harvesting structure mounting frame (43). Sliding blocks (53) are fixedly connected to the opposite sides of the state switching blocks (52). The sliding blocks (53) are slidably disposed inside the guide groove (51). A state switching motor (54) is fixedly connected to the surface of the harvesting structure mounting frame (43). The drive end of the state switching motor (54) extends to the harvesting structure mounting frame (43). Inside the state switching motor (54), a gear (55) is fixedly connected to the transmission end. The surface of the state switching block (52) is provided with a tooth groove (56). The gear (55) meshes with the state switching block (52) through the tooth groove (56). A connecting groove (57) is fixedly connected to the side of the state switching blocks (52) that are close to each other. Two fixing blocks (58) are fixedly connected to the surface of the picking telescopic sleeve (50). The two fixing blocks (58) are slidably disposed inside the two connecting grooves (57).

7. The fruit-harvesting robot based on automatic device switching technology according to claim 6, characterized in that, Hydraulic components are respectively provided on the upper and lower sides of the harvesting structure mounting frame (43). The hydraulic components include a hydraulic pump (59) fixedly installed on the surface of the harvesting structure mounting frame (43). The output end of the hydraulic pump (59) is provided with a hydraulic oil supply pipe (60), and the input end of the hydraulic pump (59) is provided with a hydraulic oil return pipe (61). The two hydraulic switching mounting frames (45) are respectively fixedly connected to hydraulic scissor lift frames (62). The hydraulic input end and hydraulic output end of the hydraulic scissor lift frame (62) are respectively connected to the hydraulic oil supply pipe (60) and the hydraulic oil return pipe (61). An adjustable support plate (64) is fixedly connected to the surface of the hydraulic scissor lift frame (62) away from the harvesting structure mounting frame (43). An adjustable support plate (64) is slidably installed inside the adjustable support plate (64). The end extends into the interior of the hydraulic switching mounting frame (45) and is fixedly connected to the side of the hydraulic scissor lift frame (62) away from the harvesting structure mounting frame (43). The adjustable tray (64) is fixedly connected to the side of each other with a gripper switching clip (65). The adjustable tray (64) is slidably disposed inside the gripper switching storage box (44). The gripper switching clip (65) is fitted with a three-clamp self-driven gripper (86). The handle connection of the three-clamp self-driven gripper (86) and the handle connection of the two-clamp self-driven gripper (84) are both fixedly connected with a detachable magnetic chuck (83). The surface of the harvesting structure mounting frame (43) is fixedly connected with a root cutting motor (67). The output end of the root cutting motor (67) is rotatably connected to a drive shaft (68). The surface of the drive shaft (68) is fixedly connected with an L-shaped cutter (69).

8. The fruit-harvesting robot based on automatic device switching technology according to claim 1, characterized in that, The picking vehicle body (1) is fixedly connected to an outer end constant level frame (14). A gyroscope (15) is installed inside the outer end constant level frame (14). A gyroscope balance base (16) is installed at the upper end of the gyroscope (15). A fruit basket (17) is placed inside the gyroscope balance base (16). A top cover (18) is installed at the top of the fruit basket (17).

9. The fruit-harvesting robot based on automatic device switching technology according to claim 1, characterized in that, The harvesting vehicle body (1) is equipped with a weeding motor (19) inside. The output end of the weeding motor (19) extends to the bottom end of the harvesting vehicle body (1). A weeding protective shell (20) is fixedly connected to the bottom surface of the harvesting vehicle body (1). An inner sleeve (21) is rotatably installed inside the weeding protective shell (20). Three weeding motors (22) are installed inside the inner sleeve (21). A nylon rope (23) is fixedly connected to the output end of the weeding motor (22).

10. The fruit-harvesting robot based on automatic device switching technology according to claim 1, characterized in that, The Mecanum wheel drive structure (5) includes a take-up and take-down frame (70) fixedly connected to the front and rear ends of the picking vehicle body (1). A center positioning frame (71) is rotatably arranged inside the take-up and take-down frame (70). A flip support shaft (72) is fixedly connected inside the center positioning frame (71). A steering adjustment motor (73) is fixedly connected to the top surface of the take-up and take-down frame (70). The drive end of the steering adjustment motor (73) extends into the interior of the take-up and take-down frame (70). A first connecting rod (74) is hinged to the drive end of the steering adjustment motor (73). A second connecting rod (75) is hinged to the end of the first connecting rod (74) away from the steering adjustment motor (73). A section of the second connecting rod (75) away from the first connecting rod (74) is hinged to the flip support shaft (72). The flip support shaft (72) is located away from the first connecting rod (73). One end of the two-link (75) is fixedly connected to a wheel drive motor (79). The output ends of the wheel drive motor (79) on both sides are rotatably connected to Mecanum wheel drive rods (80). The two ends of the Mecanum wheel drive rods (80) are respectively fixedly connected to Mecanum wheels (81). The internal hinge of the take-up and release frame (70) is provided with a hydraulic regulating pump (76). The output end of the hydraulic regulating pump (76) is hinged to a third connecting rod (77). The end of the third connecting rod (77) away from the hydraulic regulating pump (76) is hinged to the internal hinge of the take-up and release frame (70). The hinge of the third connecting rod (77) and the hydraulic regulating pump (76) is hinged to a fourth connecting rod (78). The end of the fourth connecting rod (78) away from the third connecting rod (77) is hinged to the surface of the flip support shaft (72).

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