Multi-type fruit picking robot capable of changing grabbing and multi-mode sensing

Abstract

The invention relates to the technical field of agricultural machinery, and discloses a multi-type fruit picking robot capable of changing grabbing and multi-mode sensing, which comprises a robot module, the robot module comprises a robot shell, and the interior of the robot shell is fixedly connected with a fruit counting and boxing module. And the fruit counting and boxing module comprises an inlet plate, the middle of the inlet plate is rotationally connected with a first belt conveying roller, the outer wall of the first belt conveying roller is fixedly connected with a second belt wheel, and the middle of the second belt wheel is sleeved with a transmission belt. After fruits are poured into the inlet plate, the first conveying belt can transfer the fruits, the fruits enter the collecting frame, a fixed number of the fruits are consigned to the collecting box outside the robot shell, it is guaranteed that the number of the fruits in each box is kept consistent, and economic losses caused by follow-up fruit selling are reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field, in particular to a multi-species fruit picking robot with variable pylon grabbing and multi-modal sensing. BACKGROUND

[0002] Tomatoes are one of the most popular vegetables, and the global annual output can reach 60 million tons. The research on fruit and vegetable picking robots started in the United States in the 1960s, and the harvesting method mainly uses pulling or twisting to take off the fruits, which has the disadvantages of easy damage to the fruits and low efficiency. After that, with the development of electronic technology and scientific technology, especially the maturity of industrial robot technology, computer image processing technology and artificial intelligence technology, the research and development technology of picking robots has been rapidly developed. There are certain achievements in the research on picking robots in China, but most of them are still in the research stage. These picking robots are relatively large in size, high in manufacturing cost and low in intelligent degree, and there is still a certain gap from the complete application in actual agriculture. However, the application has the following problems in actual use: At present, when picking tomatoes by using intelligent robots in China, most of them use mechanical claws to pick tomatoes in the ripening process. However, the number of fruits grown on each tomato vine is different, and the ripening degree is also different. Therefore, the number of tomatoes picked by the robot from multiple tomato vines is different, and the robot needs to return to the warehouse frequently after picking for a period of time to hand over the unknown number of picked fruits to the workers, so that the workers can pack the fruits. During the packing process, the workers have a large amount of labor due to long-time packing, so it is difficult for the workers to remember the number of fruits put into each box, thereby causing different numbers of fruits in the boxes and causing certain economic losses when selling the tomatoes later. Moreover, the labor cost of the workers is high. SUMMARY

[0003] To achieve the above object, the application is implemented by the following technical scheme: a multi-species fruit picking robot with variable pylon grabbing and multi-modal sensing, comprising a robot module, the robot module comprising a robot shell, a fruit counting and packing module is fixedly connected inside the robot shell, the fruit counting and packing module comprises an inlet plate, a first belt conveying roller is rotatably connected to the middle part of the inlet plate, a second belt pulley is fixedly connected to the outer wall of the first belt conveying roller, a transmission belt is sleeved on the second belt pulley, a second electric telescopic rod is fixedly connected to the position inside the robot shell away from the inlet plate, an outer collecting frame is fixedly connected to the output rod of the second electric telescopic rod, a telescopic spring is fixedly connected to the inside of one side of the outer collecting frame, an inner collecting frame is fixedly connected to the end of the telescopic spring away from the outer collecting frame, and a group of second pair of infrared sensors are arranged on the inner wall of the inner collecting frame close to the inlet plate.

[0004] The application provides a multi-species fruit picking robot with variable pouncing and multi-modal perception. The multi-species fruit picking robot with variable pouncing and multi-modal perception can transfer the fruits to the first conveying belt after the fruits are poured into the entrance plate, and the second pair of infrared sensors can sense the passing fruits. When the fixed number of fruits is reached, the extension spring pushes the fruits to the second conveying belt, and the second conveying belt packs the fruits, realizes the transfer of the fixed number of fruits to the collection box outside the robot shell, ensures the consistency of the number of fruits in each box, reduces the economic loss caused by the subsequent sale of fruits, and greatly reduces the labor of workers.

[0005] The multi-species fruit picking robot with variable pouncing and multi-modal perception can move the first eccentric gear and the second eccentric gear to mesh with each other while the seventh drive motor is running, and then move the open circuit board forward and backward to continuously push the front of the robot, open the way in front of the robot, avoid the obstruction of broken branches and leaves, reduce the damage caused by the environment during the movement of the robot, and the first brush and the second brush can brush off the dirt sticking to the moving module track part, reducing the moving burden.

[0006] The multi-species fruit picking robot with variable pouncing and multi-modal perception can control the multiple electrical devices of the device through the control system receiving various signals, so that the multiple electrical devices control the mechanical arm module to change the posture and control the extension module to run, and then the first mechanical finger and the second mechanical finger clamp and pick the fruits, realize the accurate picking of the fruits, and can only pick the ripe fruits. The device can change the posture according to the size and shape of different fruits to grasp the fruits more appropriately.

[0007] The multi-species fruit picking robot with variable pouncing and multi-modal perception can make the device control the total gas volume in the first air bag and the second air bag according to the actual shape and size of the fruits through the air extractor and the air inflator, so that the fruits are clamped more gently and the fruit skin is not damaged when the fruits are clamped and picked. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 It is a first perspective view of the main body of the application. Figure 2 It is a first cross-sectional view of the main body of the application. Figure 3 It is a second cross-sectional view of the main body of the application. Figure 4 It is a schematic view of the fruit transfer module and the fruit lifting module. Figure 5 Fig. 2 is a cross-sectional view of the fruit lifting module of the present application; Figure 6 Fig. 3 is a structural view of the fruit counting and boxing module of the present application; Figure 7 Fig. 4 is a two-view cross-sectional view of the fruit counting and boxing module of the present application; Figure 8 Fig. 5 is a cross-sectional view of the fruit counting and boxing module of the present application; Figure 9 Fig. 6 is a partial cross-sectional view of the fruit counting and boxing module of the present application; Figure 10 Fig. 7 is a structural view of the moving module of the present application; Figure 11 Fig. 8 is a structural view of the opening module of the present application; Figure 12 Fig. 9 is a structural view of the robot module of the present application; Figure 13 Fig. 10 is a structural view of the mechanical arm module, the stretching module and the mechanical finger module of the present application; Figure 14 Fig. 11 is a structural view of the mechanical finger module and the stretching module of the present application; Figure 15 Fig. 12 is a two-view structural view of the mechanical finger module of the present application.

[0009] In the figure: 1, robot module; 2, mechanical arm module; 3, stretching module; 4, mechanical finger module; 5, moving module; 6, open circuit module; 7, fruit transfer module; 8, fruit lifting module; 9, fruit counting and boxing module; 101, robot shell; 102, collection box; 103, control system; 104, straight rod holder; 105, first infrared emitter-receiver sensor; 106, connecting plate; 107, first electric telescopic rod; 108, blocking door; 201, bottom shell; 202, first drive motor; 203, rack; 204, second drive motor; 205, first stretching arm; 206, third drive motor; 207, second stretching arm; 208, top shell; 209, fourth drive motor; 210, fixed disc; 301, mounting shell; 302, fifth drive motor; 303, screw rod; 304, zigzag rod; 305, nut block; 306, through rod; 307, CCD camera; 308, near-infrared spectrum sensor; 309, busbar; 310, first electromagnetic valve; 311, first air pipe; 312, second electromagnetic valve; 313, second air pipe; 314, air extractor; 315, air charger; 401, fixed rod; 402, V-shaped rod; 403, first branch rod; 404, tail block; 405, arc-shaped rod; 406, first mechanical finger; 407, second mechanical finger; 408, second branch rod; 409, first air bag; 410, second air bag; 411, third air pipe; 412, first signal transmitter; 413, first flexible sensor; 414, second signal transmitter; 415, second flexible sensor; 501, first base; 502, second base; 503, sleeve shell; 504, first moving wheel; 505, motor; 506, first cylindrical rod; 507, second moving wheel; 508, third moving wheel; 601, outer skeleton; 602, open circuit plate; 603, first brush; 604, second brush; 605, assembly shell; 606, third cylindrical rod; 607, first eccentric gear; 608, hollow frame shell; 609, round rod; 610, second eccentric gear; 701, blocking piece shell; 702, sixth drive motor; 703, belt conveyor; 801, seventh drive motor; 802, fourth cylindrical rod; 803, half gear disc; 804, first belt pulley; 805, first stand column; 806, first fixed base; 807, lifting slope; 808, rubber cloth piece; 809, telescopic sleeve; 810, second fixed base; 811, first rack; 812, second stand column; 813, cross rod; 814, first gear; 815, circular cylinder shell; 816, coil spring; 901, inlet plate; 902, first belt conveying roller; 903, second belt pulley; 904, transmission belt; 905, side plate; 906, second rack; 907, blocking rod; 908, second gear; 909, spring rod; 910, rectangular block; 911, third rack; 912, second electric telescopic rod; 913, outer collection frame; 914, telescopic spring; 915, inner collection frame;916, second pair of infrared sensors; 917, second belt conveying roller; 918, first conveying belt; 919, first pressing block; 920, third belt conveying roller; 921, second conveying belt; 922, second pressing block. DETAILED DESCRIPTION

[0010] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments in the present application without creative labor fall within the scope of the present application.

[0011] Embodiment one:

[0012] Please refer to Figure 1 - Figure 15The application discloses a multi-species fruit picking robot with variable pouncing and multi-modal perception, which comprises a robot module 1, wherein the robot module 1 comprises a robot shell 101, the inside of the robot shell 101 is fixedly connected with a fruit counting and boxing module 9, the fruit counting and boxing module 9 comprises an entrance plate 901, the middle part of the entrance plate 901 is rotationally connected with a first belt conveying roller 902, the outer wall of the first belt conveying roller 902 is fixedly connected with a second belt pulley 903, the second belt pulley 903 is sleeved with a transmission belt 904 in the middle part, the inside of the robot shell 101 is fixedly connected with a second electric telescopic rod 912 at a position away from the entrance plate 901, the output rod of the second electric telescopic rod 912 is fixedly connected with an outer collecting frame 913 at one end, the inside of the outer collecting frame 913 is fixedly connected with a telescopic spring 914 at one side, the telescopic spring 914 is fixedly connected with an inner collecting frame 915 at the end away from the outer collecting frame 913, a group of second pair of infrared sensors 916 are arranged on the inner wall of the inner collecting frame 915 close to the entrance plate 901, the inside of the robot shell 101 is rotationally connected with a second belt conveying roller 917, the outer wall of the second belt conveying roller 917 is sleeved with a first conveying belt 918, the first conveying belt 918 is sleeved on the outer walls of the second belt conveying roller 917 and the first belt conveying roller 902 at the same time, the bottom of the entrance plate 901 is fixedly connected with a first pressing block 919, the first pressing block 919 is attached to the top of the first conveying belt 918, the inside of the robot shell 101 is rotationally connected with a third belt conveying roller 920 at a position away from the second belt conveying roller 917, the outer wall of the third belt conveying roller 920 is sleeved with a second conveying belt 921, the second conveying belt 921 is sleeved on the outer walls of the third belt conveying roller 920 and the first belt conveying roller 902 at the same time, the bottom of a side plate 905 is fixedly connected with a second pressing block 922, the second pressing block 922 is attached to the top of the second conveying belt 921, one side of the entrance plate 901 is fixedly connected with the side plate 905, one side of the side plate 905 is slidingly connected with a second rack 906, the top of the second rack 906 is fixedly connected with a blocking rod 907, the blocking rod 907 is slidingly matched with a sliding groove of the side plate 905, one side of the side plate 905 is rotationally connected with a second gear 908, one side of the inside of the robot shell 101 is fixedly connected with a spring rod 909, one end of the spring rod 909 is fixedly connected with a rectangular block 910, one side of the rectangular block 910 is fixedly connected with a third rack 911, the third rack 911 and the second rack 906 are both engaged with the second gear 908, the inside of the robot shell 101 is fixedly connected with a fruit lifting module 8, the fruit lifting module 8 is located at a position away from the entrance plate 901, the fruit lifting module 8 comprises a seventh driving motor 801, the output shaft of the seventh driving motor 801 is sleeved with a fourth cylindrical rod 802, one end of the fourth cylindrical rod 802 penetrates to the outside of the robot shell 101, the middle part of the fourth cylindrical rod 802 is fixedly connected with a half gear disc 803, the outer wall of the fourth cylindrical rod 802 is fixedly connected with a first belt pulley 804 away from the seventh driving motor 801,The first pulley 804 and the second pulley 903 are connected by the transmission belt 904, the inside of the robot shell 101 is fixedly connected with the first stand 805, the top of the first stand 805 is rotatably connected with the first fixed seat 806, the top of the first fixed seat 806 is fixedly connected with the lifting slope table 807, one side of the lifting slope table 807 away from the first fixed seat 806 is fixedly connected with the rubber cloth piece 808, the bottom of the rubber cloth piece 808 is fixedly connected with the robot shell 101, the inside of the robot shell 101 away from the first stand 805 is fixedly connected with the telescopic sleeve 809, the telescopic rod part of the telescopic sleeve 809 is rotatably connected with the second fixed seat 810, the top of the second fixed seat 810 is fixedly connected with the lower surface of the lifting slope table 807, one side of the telescopic rod part of the telescopic sleeve 809 is fixedly connected with the first rack 811, the inside of the robot shell 101 between the telescopic sleeve 809 and the first stand 805 is fixedly connected with the second stand 812, the top of the second stand 812 is rotatably connected with the cross rod 813, one end of the cross rod 813 is fixedly connected with the first gear 814, the first gear 814 is engaged with the first rack 811, and the first gear 814 is also engaged with the half gear disc 803, one side of the top of the second stand 812 away from the first gear 814 is fixedly connected with the circular cylinder 815, one end of the cross rod 813 away from the first gear 814 penetrates into the circular cylinder 815, and the spring 816 is fixedly connected between one end of the cross rod 813 away from the first gear 814 and the inner surface of the circular cylinder 815.

[0013] In specific implementation: First, the staff will collect the box 102 with the robot shell 101 rear chute placed to the rear of the robot position, the control system 103 control start the sixth drive motor 702 and the seventh drive motor 801, make the sixth drive motor 702 belt conveyor 703 cover set belt to transport fruit, and when the fruit comes to the edge of the belt conveyor 703, the fruit is sent to the lifting slope 807 above, then the seventh drive motor 801 drive the fourth cylindrical rod 802 outer wall of the half gear disc 803 each rotation can engage the first gear 814, and the first gear 814 also simultaneously engage the first rack 811 on the side of the telescopic sleeve 809 telescopic rod, in turn realize the telescopic sleeve 809 telescopic rod extension, make the telescopic sleeve 809 telescopic rod will lift the slope 807, then the lifting slope 807 will pour the fruit into the entrance plate 901, wherein the first gear 814 is engaged in the process of rotating the cross bar 813, so that the coil spring 816 winding and compression, and when the half gear disc 803 is no longer engaged with the first gear 814, the coil spring 816 spring back, make the telescopic sleeve 809 telescopic rod retract, and the lifting slope 807 to the position with the belt conveyor 703 flush, and wherein the rubber cloth 808 in the lifting slope 807 temporarily block the belt conveyor 703 side, avoid subsequent fruit from the lifting slope 807 to lift the bottom gap of the subsequent fruit fall, make the process of fruit transport more stable; When the fruits are poured into the entrance plate 901, the fourth cylindrical rod 802 is continuously rotated by the operation of the seventh drive motor 801, the second pulley 903 and the first pulley 804 on the outer wall of the fourth cylindrical rod 802 are driven by the transmission belt 904, and then the first belt conveying roller 902 is also synchronously rotated, so that the first belt conveying roller 902 can simultaneously drive the first conveying belt 918 outside the second belt conveying roller 917 and the second conveying belt 921 outside the third belt conveying roller 920 to be synchronously driven, so that the first conveying belt 918 can transport the fruits into the inner collecting frame 915, and each passing fruit can break the infrared transmission sensing area of the second pair of infrared sensors 916 during the process of being transported into the inner collecting frame 915, thereby realizing the counting of the number of picked fruits, wherein the extension spring 914 on one side of the outer collecting frame 913 makes the inner collecting frame 915 have a buffer space, and when the number reaches a specified value, the control system 103 controls the second electric telescopic rod 912 to perform a reciprocating extension once, so that the second electric telescopic rod 912 pushes the inner collecting frame 915 to the position of the second conveying belt 921, in fact, the inner collecting frame 915 can squeeze the rectangular block 910 at one end of the spring rod 909 during the movement, and the rectangular block 910 moves at the same time to engage the third rack 911 with the second gear 908, and the second gear 908 engages the second rack 906, thereby realizing the movement of the stop rod 907 in the opposite direction of the inner collecting frame 915, so that the stop rod 907 blocks the entrance of the inner collecting frame 915, avoids the fruits from being pushed out of the inner collecting frame 915 area during the pushing process, and transports a fixed number of fruits to the collecting box 102 outside the robot shell 101. The fixed number of fruits are transported to the collecting box outside the robot shell, the number of fruits in each box is kept consistent, the economic loss caused by the subsequent sale of fruits is reduced, and the labor amount of workers is greatly reduced.

[0014] Embodiment two:

[0015] Please refer to Figure 1 - Figure 15The utility model provides a kind of multi-class fruit picking robot of variable perching and multi-modal perception, including the fixed connection of fruit transfer module 7 in the position of robot shell 101 inside away from fruit lifting module 8 and fruit counting and packing module 9, fruit transfer module 7 includes belt conveyor 703, the outer wall of belt conveyor 703 is fixedly connected with baffle shell 701, baffle shell 701 is fixedly connected with the side of baffle shell 701, and the output shaft of sixth driving motor 702 is fixedly connected with the conveying rod part of belt conveyor 703 by coupling, and the outer wall of robot shell 101 is slidably connected with open road module 6, open road module 6 includes exoskeleton 601, and the outer wall of robot shell 101 is slidably connected with exoskeleton 601, and the bottom of exoskeleton 601 is fixedly connected with open road plate 602, and open road plate 602 is placed in the front of the device main body, and the shape is V-shaped, the both ends of exoskeleton 601 are fixedly connected with first brush 603, the bottom of exoskeleton 601 is fixedly connected with two second brushes 604, the side of exoskeleton 601 close to the slidably connected position of robot shell 101 and exoskeleton 601 is fixedly connected with assembly shell 605, the middle part of assembly shell 605 is rotatably connected with third cylindrical rod 606, the middle part outer surface of third cylindrical rod 606 is fixedly connected with first eccentric gear 607, third cylindrical rod 606 is placed at the edge of first eccentric gear 607, and hollow frame 608 is rotatably connected with the outer side of robot shell 101, and the outer side of robot shell 101 is rotatably connected with round bar 609, and round bar 609 is fixedly connected with fourth cylindrical rod 802, the middle part outer surface of round bar 609 is fixedly connected with second eccentric gear 610, and round bar 609 is placed at the edge of second eccentric gear 610, and the bottom of robot shell 101 is fixedly connected with two mobile modules 5, mobile module 5 includes first base 501, the side of two first bases 501 is fixedly connected with second base 502, the side of each second base 502 is fixedly connected with sleeve shell 503, and the inclination between second base 502 and sleeve shell 503 is forty-five degrees upwards from right to left, the middle part of each sleeve shell 503 is rotatably connected with third moving wheel 508, the side of each sleeve shell 503 away from third moving wheel 508 is rotatably connected with first moving wheel 504, the opposite side of two first bases 501 is fixedly connected with two motors 505, the output shaft of each motor 505 is fixedly connected with first cylindrical rod 506, and first cylindrical rod 506 is rotatably connected with sleeve shell 503, the outer part of each first cylindrical rod 506 away from motor 505 is fixedly connected with second moving wheel 507, and second moving wheel 507 and third moving wheel 508 are fixedly connected by first cylindrical rod 506, and the outer side of wheel body of two second moving wheels 507 on the same side is commonly sleeved with track, and the outer side of wheel body of third moving wheel 508 and first moving wheel 504 on the same side is commonly sleeved with track.

[0016] In specific implementation: The starting motor 505 drives the first cylindrical rod 506 to rotate, and synchronously drives the second moving wheel 507 and the third moving wheel 508 to rotate, thereby making the track belt sleeved with the second moving wheel 507 synchronously driven, and the first moving wheel 504 on one side of the second base 502 and the middle part of the one side of the sleeve shell 503 synchronously rotates with the third moving wheel 508, and at this time the track belt sleeved with the third moving wheel 508 and the third moving wheel 508 is also synchronously driven, which can adapt to various plant areas in harsh ground environment. The seventh driving motor 801 is started, the fourth cylindrical rod 802 outside the robot shell 101 drives the cylindrical rod 609 to synchronously rotate, so that the second eccentric gear 610 makes eccentric rotation around the cylindrical rod 609 as the center in the rotating process, and the first eccentric gear 607 in the hollow frame shell 608 is engaged in the process of eccentric rotation of the second eccentric gear 610, so that the first eccentric gear 607 makes eccentric rotation around the third cylindrical rod 606 as the center, and the assembled shell 605 and the exoskeleton 601 can be horizontally slidably connected with the outer wall of the robot shell 101, so that the first eccentric gear 607 and the second eccentric gear 610 are engaged to finally realize the reciprocating movement track of the exoskeleton 601, so that the first brush 603 and the second brush 604 can brush off the soil on the track belt, and the road plate 602 continuously pushes the front of the robot; Avoiding that the broken stones and broken branches block the robot from moving forward, and reducing the damage of the robot caused by the environment during movement.

[0017] Example three:

[0018] Please refer to Figure 1 - Figure 15A variable-grabbing and multimodal sensing multi-type fruit-picking robot includes a robot shell 101 with a vertical groove on one side, and a collection box 102 slidably connected in the groove. A control system 103 is fixedly connected to the top of the robot shell 101. Two straight rods 104 are fixedly connected to the top of the robot shell 101 away from the control system 103. Multiple sets of first infrared beam sensors 105 are fixedly connected to the top of the straight rods 104. A connecting plate 106 is fixedly connected to the bottom of each straight rod 104. A first electric telescopic rod 107 is fixedly connected to one side of each connecting plate 106. A gate 108 is fixedly connected to one end of the output rod portion of each first electric telescopic rod 107. The first electric telescopic rod 107 and the first infrared beam sensor 105 are wire-connected. A robotic arm module 2 is fixedly connected to the top center of the robot shell 101. The robotic arm module 2 includes a bottom shell 201. A first drive motor 202 is fixedly connected inside the bottom shell 201. The output shaft of the first drive motor 202 rotatably passes through the top of the bottom shell 201 and is sleeved with a platform 203. A second drive motor 204 is fixedly connected to one side of the platform 203. A first extension arm 205 is rotatably connected to the center of the platform 203. The first extension arm 205 is fixedly connected to the output shaft of the second drive motor 204 via a coupling. A third drive motor 206 is fixedly connected to one side of the first extension arm 205. A second extension arm 207 is sleeved on the output shaft of the third drive motor 206. A top shell 208 is fixedly connected to one end of the second extension arm 207. A fourth drive motor 209 is fixedly connected inside the top shell 208. The output shaft rotates through the side wall of the top shell 208 and is fitted with a fixing plate 210. An extension module 3 is fixedly connected to one side of the fixing plate 210. The extension module 3 includes a mounting shell 301. A fifth drive motor 302 is fixedly connected to the side of the mounting shell 301 away from the fixing plate 210. A lead screw 303 is sleeved on the output shaft of the fifth drive motor 302. Three curved rods 304 are rotatably connected to the outer wall of the mounting shell 301 away from the fifth drive motor 302. Each curved rod 304 is composed of two rods rotatably connected at one end. A common nut block 305 is rotatably connected to the end of the three curved rods 304 away from the mounting point of the mounting shell 301. The nut block 305 is threadedly engaged with the lead screw 303. Three through rods 306 are fixedly connected to the side of the nut block 305 away from the fifth drive motor 302. All three through rods 306 penetrate the mounting shell 301.

[0019] In practice: When the robot comes to the fruit picking site, first install the CCD camera 307 (the core role of the CCD camera is to accurately convert the optical signal into an electrical signal, output high-quality digital images, and adapt to high-precision imaging needs) and near-infrared spectrum sensor 308 (the core role of the near-infrared spectrum sensor is to quickly and non-destructively analyze the composition and physicochemical properties of the material; non-contact / non-destructive detection: can simultaneously detect the content of multiple components such as water, protein, fat, and sugar in the material) outside the shell 301 to take pictures and scan the fruit that needs to be picked. The near-infrared spectrum sensor 308 fuses the visual and spectral data of the fruit scanning and sends it to the control system 103. The data collector (the core role of the data collector is to automatically and accurately collect multi-source data and standardize processing, providing reliable raw data support for data analysis and system operation) and the electrical actuator (the core role of the electrical actuator is to convert electrical signals into mechanical actions) make a comprehensive maturity determination and divide the fruit into three categories: A, B, and C. The control system 103 only generates a harvesting instruction for A-level fruit. After determining that the fruit is A-level, the motor 505 is started again to further fine-tune the robot's position. After fine-tuning, the motor 505 is temporarily turned off, and the robot stops to provide a stable picking platform for picking fruit. At the same time, after the CCD camera 307 takes pictures of the ripe fruit, it sends the fruit size image data to the control system 103, which sends instructions to start the first drive motor 202, the second drive motor 204, the third drive motor 206, the fourth drive motor 209, and the fifth drive motor 302. The robot mechanism and the gripper change their posture to reach the fruit that needs to be picked. In the process of running the fifth drive motor 302, the lead screw 303 rotates, causing the nut block 305 to move to the position where it is engaged. The curved rod 304 provides a limit support for the movement of the nut block 305. At the same time, the nut block 305 moves, the rod 306 penetrates the nut block 305 on one side and pushes the tail block 404 to extend. At the same time, the tail block 404 extends, the first support rod 403 lifts one end of the V-shaped rod 402, and the V-shaped rod 402 is limited by the outer wall of the fixed rod 401. The end of the V-shaped rod 402 is lifted and can press the other end backward. At this time, the arc-shaped rod 405 at the end of the V-shaped rod 402 is pulled backward, and the arc-shaped rod 405 gets a backward pulling force. Therefore, the arc-shaped rod 405 can pull the first mechanical finger 406 to open, and at the same time, the second mechanical finger 407 rotates synchronously with the V-shaped rod 402. Then, the second support rod 408 on both sides of the second mechanical finger 407 can provide a pushing force to the first mechanical finger 406 to open, and the gripper of the robot can be opened to adapt to the initial size of the fruit that needs to be picked. The device can realize accurate picking of fruits and can pick only ripe fruits. During the picking process, the device can change the posture according to different sizes and shapes of the fruits, so that the fruits are more suitable for being picked.

[0020] Example four:

[0021] Please refer to Figure 1 - Figure 15The application discloses a multi-species fruit picking robot with variable pouncing and multi-modal perception, which comprises a mounting shell 301, a CCD camera 307 fixedly connected to the top of the mounting shell 301 away from a fifth driving motor 302, a near-infrared spectrum sensor 308 fixedly connected to one side of the mounting shell 301 away from the fifth driving motor 302, a busbar 309 fixedly connected to one side of the mounting shell 301 close to the fifth driving motor 302, fifteen first electromagnetic valves 310 arranged on one side of the busbar 309, a first air pipe 311 communicated with one side of each first electromagnetic valve 310, a second electromagnetic valve 312 arranged on the upper and lower sides of the busbar 309, a second air pipe 313 communicated with one side of each second electromagnetic valve 312, an air extractor 314 fixedly connected to one side of the busbar 309, an air charger 315 fixedly connected to one side of the busbar 309 away from the air extractor 314, one end of each of three penetrating rods 306 fixedly connected with a mechanical finger module 4, and each mechanical finger module 4 comprising a fixed rod 401 fixedly connected with the mounting shell 301, a V-shaped rod 402 rotatably connected to the inner wall of the fixed rod 401, a first supporting rod 403 rotatably connected to the outer wall of one end of the V-shaped rod 402 away from the fixed rod 401, a tail block 404 rotatably connected to the middle of one end of the first supporting rod 403 away from the V-shaped rod 402, the tail block 404 fixedly connected with the penetrating rod 306, an arc-shaped rod 405 rotatably connected to the middle of one end of the V-shaped rod 402 away from the fixed rod 401 and the first supporting rod 403, the arc-shaped rod 405 comprising two rods rotatably connected at one end, a first mechanical finger 406 rotatably connected to the outer wall of one end of the arc-shaped rod 405 away from the V-shaped rod 402, a second mechanical finger 407 fixedly connected to the outer wall of the shaft rod rotatably penetrating the inside of the fixed rod 401, a second supporting rod 408 fixedly connected to the outer wall of both sides of the second mechanical finger 407 away from the fixed rod 401, and each first mechanical finger 406 provided with two first air bags 409 at the bottom, the second mechanical finger 407 provided with three second air bags 410 at the bottom, the first air bags 409 and the second air bags 410 communicated with a third air pipe 411, a plurality of third air pipes 411 communicated with a plurality of first air pipes 311, each first air bag 409 provided with a first flexible sensor 413 at the bottom, the first flexible sensors 413 wiredly connected with a common first signal transmitter 412, the first signal transmitter 412 fixed to the top of the first mechanical finger 406, each second air bag 410 provided with a second flexible sensor 415 at the bottom, and the second flexible sensors 415 wiredly connected with a common second signal transmitter 414, the second signal transmitter 414 fixed to one side of the second mechanical finger 407.

[0022] In specific implementation, When the robot gripper is partially opened, the control system 103 controls the opening of the inflator 315, and at the same time, the corresponding first electromagnetic valve 310 of the bus plate 309 is opened, so that the first air pipe 311 and the third air pipe 411 inflate the first air bag 409 and the second air bag 410, and when the first air bag 409 and the second air bag 410 are attached to the surface of the fruit, the first flexible sensor 413 and the second flexible sensor 415 can send the actual size data of the fruit into the control system 103 through the first signal transmitter 412 and the second signal transmitter 414, so that the control system 103 analyzes the data and starts the air extractor 314 and the fifth drive motor 302, so that the air extractor 314 extracts the excess air in the first air bag 409 and the second air bag 410, and the first air bag 409 and the second air bag 410 are attached to the fruit more tightly, and the fifth drive motor 302 is controlled to rotate forward and backward, so that the position of the nut block 305 is adjusted, and the robot gripper is clamped during the backward movement of the nut block 305, so as to realize lossless grabbing and separation, and thus realize fine, low-damage selective picking; When the clamping is completed, the control system 103 controls the start of the first drive motor 202, the second drive motor 204 and the third drive motor 206 to run respectively, so that the first stretching arm 205 and the second stretching arm 207 twist and force, and the gantry 203 rotates to the position, so that the fruit is picked, and after picking, the first drive motor 202, the second drive motor 204 and the third drive motor 206 are continuously controlled to run, so that the robot arm reaches the first infrared opposite sensor 105, the infrared signal of the first infrared opposite sensor 105 (the core function of the infrared opposite sensor is to detect whether the light beam is blocked by emitting and receiving infrared light beams, to realize the precise detection of the existence, intrusion or position of the object; obstruction detection: the emitter continuously emits infrared light, and the receiver receives the light beam, which is immediately triggered when blocked, with fast response speed; non-contact detection: no need to contact the measured object, avoiding wear and tear, suitable for harsh environments or inconvenient contact scenes; precise triggering: the detection distance can be set from centimeter to hundred meters, with strong anti-interference ability and reduced false triggering) is cut off, so that the first electric telescopic rod 107 is operated to retract the telescopic rod of the first electric telescopic rod 107, and then the two doors 108 are opened, and then the robot arm puts the fruit above the belt conveyor 703 in the robot shell 101.

[0023] In the present application, the specific working steps of the device are as follows: The staff puts the collection box 102 behind the robot; the motor 505 is started, the second moving wheel 507 and the third moving wheel 508 are rotated, the caterpillar tracks outside the moving wheels are synchronously driven, the robot is moved to the designated picking place, and the robot can adapt to the harsh ground environment of the planting area; After the robot reaches the picking site, the CCD camera 307 and the near-infrared spectrum sensor 308 take pictures and scan the fruit; the near-infrared spectrum sensor 308 sends the fused visual and spectral data to the control system 103 and the electrical actuators, which determine the maturity of the fruit, while the CCD camera 307 transmits the fruit size data to the control system 103, which starts the first drive motor 202, the second drive motor 204, the third drive motor 206, the fourth drive motor 209, and the fifth drive motor 302, adjusts the posture of the mechanical arm and the gripper to the front of the fruit to be picked; The fifth drive motor 302 drives the screw rod 303 to rotate, causing the engaged nut block 305 to move, and then the through rod 306 pushes the tail block 404 to extend, causing the first support rod 403 to lift the V-shaped rod 402, and the V-shaped rod 402 pulls the second mechanical finger 407 to open, so that the gripper adapts to the initial size of the fruit; After the gripper opens, the control system 103 starts the inflator 315 and the corresponding first electromagnetic valve 310 to inflate the first air bag 410 and the second air bag 411, and after the air bags are attached to the fruit, the first flexible sensor 413 and the second flexible sensor 415 transmit the fruit size data to the control system 103; after the system analyzes, it starts the air extractor 314 to extract excess air to make the air bags fit more tightly, so that the gripper holds the fruit and realizes non-destructive grabbing and separation; When the mechanical arm moves with the grabbed fruit to the first infrared emitter-receiver sensor 105, the infrared signal is cut off, triggering the first electric telescopic rod 107 to retract, causing the two doors 108 to open, and the mechanical arm puts the fruit on the belt conveyor 703 above the robot shell 101; The belt of the belt conveyor 703 carries the fruit, and after the fruit reaches the edge of the belt, it falls into the lifting slope 807; then the seventh drive motor 801 drives the half gear disc 803 to engage the first gear 814 every time it rotates one circle, and the first gear 814 simultaneously engages the first rack 811 on one side of the telescopic sleeve 809, causing the telescopic sleeve 809 to extend and lift the lifting slope 807, and the fruit falls into the entrance plate 901; After the fruit falls into the entrance plate 901, the second pulley 903 drives the first pulley 804 and the first belt conveyor roller 902 to rotate synchronously through the transmission belt 904; then the second conveyor belt 921 also synchronously transmits, causing the first conveyor belt 918 to carry the fruit to the inner collection frame 915; when the fruit passes through, it breaks the infrared sensing area of the second emitter-receiver infrared sensor 916, achieving quantity counting; when the quantity of fruit reaches a specified value, the second electric telescopic rod 912 reciprocates, pushing the inner collection frame 915 to the position of the second conveyor belt 921; when the collection frame 915 moves, the blocking rod 907 blocks the entrance of the collection frame 915 to prevent the fruit from deviating, and then the second conveyor belt 921 sends the fixed number of fruits to the collection box 102; When the seventh driving motor 801 is running, it drives the fourth cylindrical rod 802 to rotate synchronously, so that the second eccentric gear 610 rotates eccentrically with the cylindrical rod 609 as the center, and meshes with the first eccentric gear 607. The reciprocating movement of the exoskeleton 601 is realized under the meshing action of the two eccentric gears, so that the first brush 603 and the second brush 604 brush off the soil on the track, and the open circuit board 602 continuously cleans the obstacles in front of the robot.

[0024] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-species fruit picking robot with variable perching grasping and multi-modal sensing, characterized by: The application relates to a fruit counting and boxing robot, which comprises a robot module (1), a fruit counting and boxing module (9) is fixedly connected to the inside of a robot shell (101), the fruit counting and boxing module (9) comprises an entrance plate (901), a first belt conveying roller (902) is rotationally connected to the middle part of the entrance plate (901), a second belt pulley (903) is fixedly connected to the outer wall of the first belt conveying roller (902), a transmission belt (904) is sleeved on the second belt pulley (903), a second electric telescopic rod (912) is fixedly connected to the inside of the robot shell (101) and away from the entrance plate (901), an outer collecting frame (913) is fixedly connected to the output rod of the second electric telescopic rod (912), a telescopic spring (914) is fixedly connected to the inside of the outer collecting frame (913), an inner collecting frame (915) is fixedly connected to the end of the telescopic spring (914) and away from the outer collecting frame (913), a group of second pair of infrared sensors (916) are arranged on the inner wall of the inner collecting frame (915) and close to the entrance plate (901).

2. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 1, characterized in that: A second belt conveying roller (917) is rotationally connected to the inside of the robot shell (101), a first conveying belt (918) is sleeved on the outer wall of the second belt conveying roller (917), the first conveying belt (918) is sleeved on the outer walls of the second belt conveying roller (917) and the first belt conveying roller (902) at the same time, a third belt conveying roller (920) is rotationally connected to the side of the inside of the robot shell (101) and away from the second belt conveying roller (917), a second conveying belt (921) is sleeved on the outer wall of the third belt conveying roller (920), a side plate (905) is fixedly connected to one side of the entrance plate (901), a second rack (906) is slidingly connected to one side of the side plate (905), a stop rod (907) is fixedly connected to the top of the second rack (906), the stop rod (907) is slidingly connected with the side plate (905), a second gear (908) is rotationally connected to one side of the side plate (905), a spring rod (909) is fixedly connected to one side of the inner wall of the robot shell (101), a rectangular block (910) is fixedly connected to one end of the spring rod (909), a third rack (911) is fixedly connected to one side of the rectangular block (910), the third rack (911) and the second rack (906) are engaged with the second gear (908).

3. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 1, characterized in that: The inside of the robot shell (101) is fixedly connected with a fruit lifting module (8), the fruit lifting module (8) comprises a seventh driving motor (801), the output shaft of the seventh driving motor (801) is sleeved with a fourth cylindrical rod (802), the middle part of the fourth cylindrical rod (802) is fixedly connected with a half gear disc (803), the outer wall of the fourth cylindrical rod (802) away from the seventh driving motor (801) is fixedly connected with a first belt pulley (804), the first belt pulley (804) and the second belt pulley (903) are drivingly connected through the transmission belt (904), the inside of the robot shell (101) is fixedly connected with a first stand column (805), the top of the first stand column (805) is rotatably connected with a first fixed seat (806), the top of the first fixed seat (806) is fixedly connected with a lifting slope (807), one side of the lifting slope (807) away from the first fixed seat (806) is fixedly connected with a rubber cloth piece (808), the bottom of the rubber cloth piece (808) is fixedly connected with the robot shell (101), the position of the inside of the robot shell (101) away from the first stand column (805) is fixedly connected with a telescopic sleeve (809), the top of the telescopic rod part of the telescopic sleeve (809) is rotatably connected with a second fixed seat (810), one side of the telescopic rod part of the telescopic sleeve (809) is fixedly connected with a first gear rack (811), the inside of the robot shell (101) is fixedly connected with a second stand column (812) between the telescopic sleeve (809) and the first stand column (805), the top of the second stand column (812) is rotatably connected with a cross rod (813), one end of the cross rod (813) is fixedly connected with a first gear (814), one side of the top of the second stand column (812) away from the first gear (814) is fixedly connected with a circular cylinder shell (815), the surface of one end of the cross rod (813) away from the first gear (814) is fixedly connected with the inner surface of the circular cylinder shell (815) through a coil spring (816).

4. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 1, wherein: The outer wall of the robot shell (101) is slidingly connected with an open circuit module (6), the open circuit module (6) comprises an outer skeleton (601), and a sliding groove is opened outside the robot shell (101), the outer skeleton (601) is slidingly matched with the sliding groove of the robot shell (101), the middle part of the bottom of the outer skeleton (601) is fixedly connected with an open circuit board (602), one side of the outer skeleton (601) close to the sliding matching position of the robot shell (101) and the outer skeleton (601) is fixedly connected with an assembly shell (605), the middle part of the assembly shell (605) is rotatably connected with a third cylindrical rod (606), the middle outer surface of the third cylindrical rod (606) is fixedly connected with a first eccentric gear (607), the outer part of the first eccentric gear (607) is rotatably sleeved with a hollow frame shell (608), the outer side of the robot shell (101) is rotatably connected with a round rod (609), and the round rod (609) is fixedly connected with a fourth cylindrical rod (802), the middle outer surface of the round rod (609) is fixedly connected with a second eccentric gear (610), the bottom of the robot shell (101) is fixedly connected with two moving modules (5), the moving module (5) comprises a first base (501) fixedly installed at the lowermost end of the robot shell (101), the opposite sides of the two first bases (501) are fixedly connected with second bases (502), one side of the second base (502) is fixedly connected with a sleeve shell (503), the second base (502) and the sleeve shell (503) are inclined upward by forty-five degrees from right to left, the middle part of the sleeve shell (503) is rotatably connected with third moving wheels (508), one side of the sleeve shell (503) away from the third moving wheel (508) is rotatably connected with a first moving wheel (504), the opposite sides of the first base (501) are fixedly connected with two motors (505), the output shaft of each motor (505) is rotatably penetrated through the first base (501) and fixedly installed with a first cylindrical rod (506), the first cylindrical rod (506) is rotatably penetrated through the sleeve shell (503) and fixedly connected with the third moving wheel (508), one end of the first cylindrical rod (506) away from the motor (505) is fixedly connected with a second moving wheel (507), the outer sides of the wheel bodies of the two second moving wheels (507) on the same side are commonly sleeved with a track, the outer sides of the wheel bodies of the third moving wheel (508) and the first moving wheel (504) on the same side are commonly sleeved with a track.

5. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 1, wherein: The top of the robot shell (101) is fixedly connected with a control system (103), the top of the robot shell (101) is fixedly connected with two straight pole racks (104) away from the control system (103), the top of the straight pole rack (104) is fixedly connected with a plurality of groups of first infrared opposite transmission sensors (105), the bottom of the two straight pole racks (104) is fixedly connected with a connecting plate (106), one side of each connecting plate (106) is fixedly connected with a first electric telescopic rod (107), and one end of the output rod part of each first electric telescopic rod (107) is fixedly connected with a door stop (108).

6. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 1, wherein: The top of the robot shell (101) is fixedly connected with a mechanical arm module (2), the mechanical arm module (2) comprises a bottom shell (201), the inside of the bottom shell (201) is fixedly connected with a first drive motor (202), the output shaft of the first drive motor (202) penetrates through the top of the bottom shell (201) and is sleeved with a rack (203), one side of the rack (203) is fixedly connected with a second drive motor (204), the middle of the rack (203) is rotatably connected with a first extension arm (205), the first extension arm (205) and the output shaft of the second drive motor (204) are fixedly connected through a shaft coupling, one side of the first extension arm (205) is fixedly connected with a third drive motor (206), the output shaft of the third drive motor (206) is sleeved with a second extension arm (207), one end of the second extension arm (207) is fixedly connected with a top shell (208), the inside of the top shell (208) is fixedly connected with a fourth drive motor (209), the output shaft of the fourth drive motor (209) penetrates through the side wall of the top shell (208) and is sleeved with a fixed disc (210).

7. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 6, characterized in that: One side of the fixed disc (210) is fixedly connected with an extension module (3), the extension module (3) comprises a mounting shell (301), one side of the mounting shell (301) away from the fixed disc (210) is fixedly connected with a fifth drive motor (302), the output shaft of the fifth drive motor (302) is sleeved with a lead screw (303), the outer wall of the mounting shell (301) away from the fifth drive motor (302) is rotatably connected with three zigzag rods (304), one end of the three zigzag rods (304) away from the mounting shell (301) is rotatably connected with a common nut block (305), one side of the nut block (305) away from the fifth drive motor (302) is fixedly connected with three through rods (306), and the three through rods (306) all penetrate the mounting shell (301).

8. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 7, characterized in that: The top of the mounting shell (301) away from the fifth drive motor (302) is fixedly connected with a CCD camera (307), one side of the mounting shell (301) away from the fifth drive motor (302) is fixedly connected with a near-infrared spectrum sensor (308), and one side of the mounting shell (301) close to the fifth drive motor (302) is fixedly connected with a bus bar (309).

9. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 7, wherein: One end of three through rods (306) is fixedly connected with a mechanical finger module (4), each mechanical finger module (4) comprises a fixed rod (401), the fixed rod (401) is fixedly connected with the mounting shell (301), the inner wall of the fixed rod (401) is rotatably connected with a V-shaped rod (402), the outer wall of the V-shaped rod (402) away from the fixed rod (401) is rotatably connected with a first supporting rod (403), the middle of one end of the first supporting rod (403) away from the V-shaped rod (402) is rotatably connected with a tail block (404), the tail block (404) is fixedly connected with the through rod (306), the middle of one end of the V-shaped rod (402) away from the fixed rod (401) and the first supporting rod (403) is rotatably connected with an arc-shaped rod (405), the outer wall of one end of the arc-shaped rod (405) away from the V-shaped rod (402) is rotatably connected with a first mechanical finger (406), the outer wall of the V-shaped rod (402) rotatably penetrating the shaft rod inside the fixed rod (401) is fixedly connected with a second mechanical finger (407), the outer wall of the second mechanical finger (407) away from the fixed rod (401) is fixedly connected with a second supporting rod (408) on both sides, one end of two second supporting rods (408) away from the second mechanical finger (407) is rotatably connected with the outer wall of both sides of the first mechanical finger (406).

10. The multi-species fruit picking robot with variable perching grasping and multi-modal sensing according to claim 9, wherein: The bottom of each first mechanical finger (406) is provided with two first air bags (409), the bottom of the second mechanical finger (407) is provided with three second air bags (410), the bottom of two first air bags (409) is provided with a first flexible sensor (413), two first flexible sensors (413) are linearly connected with a common first signal transmitter (412), the bottom of three second air bags (410) is provided with a second flexible sensor (415), three second flexible sensors (415) are linearly connected with a common second signal transmitter (414).

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