Intelligent citrus picking robot and method based on machine vision and mechanical fusion perception

Abstract

The invention discloses an intelligent citrus picking robot based on machine vision and mechanical fusion perception in the technical field of agricultural machinery. The intelligent citrus picking robot comprises a vehicle body, a picking mechanical arm is arranged on the vehicle body, a machine vision mechanism is arranged on the picking mechanical arm, and a picking actuator used for picking citrus is arranged at the execution end of the picking mechanical arm; wherein the picking actuator comprises two groups of mechanical clamping arms which can move close to each other, each mechanical clamping arm is provided with a mounting seat, the opposite sides of the two groups of mounting seats are provided with cutting knives, and a coating mechanism which can move horizontally is arranged in one of the mounting seats and located below the cutting knives. The robot can immediately coat the cut surfaces of the fruit stems with a film coating agent after the fruit stems are cut off, so that main channels for water evaporation and germ invasion are effectively blocked, the rotting rate and the weight loss rate of the picked fruits are reduced, the preservation period and the shelf life are prolonged, and the fruit quality is improved. And the commodity value and the economic benefit of citrus picking are effectively improved while the dependence on manpower is reduced.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, specifically to an intelligent citrus harvesting robot based on the fusion of machine vision and mechanical perception. Background Technology

[0002] Citrus fruits are one of the world's most important economic crops, grown on a large scale worldwide. They are the world's largest category of fruit and the world's third largest traded agricultural product.

[0003] Traditional citrus harvesting is done manually. While manual harvesting effectively reduces fruit damage and ensures uniformity, it is labor-intensive and inefficient. Although some intelligent harvesting robots have emerged to replace manual labor, these robots are mostly single-function, often only capable of simple grasping and separating actions, and lack the ability to treat fruit wounds immediately after harvesting. This makes the exposed fruit stalks after harvesting a major channel for water loss and pathogen invasion, seriously affecting the storage, transportation, and preservation period and commercial value of the fruit. Therefore, we propose an intelligent citrus harvesting robot based on the fusion of machine vision and mechanical perception. Summary of the Invention

[0004] The purpose of this invention is to provide a citrus intelligent harvesting robot based on the fusion of machine vision and mechanical perception. It solves the technical problem that most existing intelligent harvesting robots have limited functions and can only perform simple grasping and separating actions. They lack the ability to treat fruit wounds immediately after harvesting, which makes the exposed fruit stalk surface after harvesting a major channel for water loss and pathogen invasion, seriously affecting the storage, transportation, freshness preservation period and commercial value of the fruit.

[0005] The present invention achieves the above objectives through the following technical solutions: A citrus intelligent harvesting robot based on the fusion of machine vision and mechanical perception includes a vehicle body, a harvesting robotic arm on the vehicle body, a machine vision mechanism on the harvesting robotic arm, and a harvesting actuator for harvesting citrus at the execution end of the harvesting robotic arm. The harvesting actuator includes two sets of mechanical clamping arms that can move close to each other to clamp the citrus fruit. Each mechanical clamping arm is equipped with a mounting seat. Each of the two sets of mounting seats has a cutting blade on one side opposite to the citrus fruit stem. A horizontally movable coating mechanism is provided in one of the mounting seats and below the cutting blade. The coating mechanism is used to move horizontally out of the mounting seat after the citrus fruit stem is cut and to apply a coating agent to the cut surface of the citrus fruit stem. The mounting seat is connected to the corresponding mechanical clamping arm through a driving component, which is used to drive the mounting seat to move up and down or horizontally.

[0006] A further improvement is that both sets of mechanical clamping arms are slidably mounted on one side of the assembly base via sliders. A bidirectional screw is rotatably mounted inside the assembly base. The bidirectional screw is threaded through the two sliders. The bidirectional screw is driven to rotate by a drive device mounted on the assembly base. The end of the assembly base away from the mechanical clamping arms is connected to the output end of the rotating device. The rotating device is located at the execution end of the harvesting robot arm.

[0007] A further improvement is that the mechanical clamping arm includes a gripper, and a pressure sensor is embedded on the gripping surface of the gripper. The detection end of the pressure sensor is connected to an elastic contact member for contacting the outer wall of the citrus fruit. The pressure sensor is used to detect the pressure of the elastic contact member clamping the citrus fruit and control the drive device to stop working when the pressure reaches a preset threshold.

[0008] A further improvement is that both sets of mounting bases have inclined surfaces on opposite sides, and both sets of inclined surfaces have grooves on opposite sides and below the cutting blade, with the coating mechanism located in one of the grooves. The coating mechanism includes a connecting seat located inside the tank, an application sponge located at the bottom of the connecting seat, and an upper liquid section located below the tank for supplying coating agent to the application sponge. A support rod is connected to one side of the connecting seat, and one end of the support rod extends into an installation cavity connected to one side of the tank and is connected to a permanent magnet. One side of the permanent magnet is connected to the inner wall of the installation cavity through an elastic element. An electromagnetic block is located inside the installation cavity and between the permanent magnet and the connecting seat. The electromagnetic block is used to attract the permanent magnet when energized, causing it to move the connecting seat and the application sponge to the outside of the tank via the support rod.

[0009] A further improvement is that the application sponge is disc-shaped and located at one end of the rotating shaft. The rotating shaft is rotatably inserted into the connecting seat. A torsion spring is provided at the connection between the rotating shaft and the connecting seat. A pull rope is wound around the outer wall of the rotating shaft. One end of the pull rope extends into the mounting cavity and connects to the inner wall of one side of the mounting cavity. The pull rope is used to pull the rotating shaft and drive the application sponge to rotate when the connecting seat moves to the outside of the groove.

[0010] A further improvement is that the liquid loading section includes a liquid storage chamber located within the mounting base and below the tank. An applicator roller is rotatably embedded in the liquid storage chamber. A portion of the outer wall of the applicator roller is inside the liquid storage chamber, and another portion of its outer wall penetrates the top wall of the liquid storage chamber and is placed inside the tank for sliding contact with the bottom of the applicator sponge. The liquid storage chamber stores a film-forming agent. The liquid storage chamber is connected to an external liquid supply device through a replenishment pipe. A detection sensor for detecting the liquid level of the film-forming agent is provided in the liquid storage chamber. The detection sensor is used to control the external liquid supply device to operate when the detected liquid level is lower than a preset height.

[0011] A further improvement is that the bottom wall of another of the tanks is provided with a scraper, and the bottom wall of the tank has a slag discharge port on the side of the scraper facing the cutting blade. One end of the slag discharge port passes through the side wall of the corresponding mounting base. The scraper is used to clean the bottom surface of the application sponge when the application sponge moves horizontally into the tank.

[0012] A further improvement is that the driving component includes a support seat that is vertically slidably disposed on the side wall of the mechanical clamping arm. The support seat is driven to rise and fall relative to the mechanical clamping arm by a telescopic device 1 disposed on the mechanical clamping arm. One end of the support seat is slidably connected to the mounting seat. A telescopic device 2 is embedded in the support seat. The output end of the telescopic device 2 is connected to the mounting seat and is used to drive the mounting seat to move horizontally relative to the support seat.

[0013] A further improvement is that the vehicle body is also equipped with a placement frame.

[0014] A method for intelligent citrus harvesting based on the fusion of machine vision and mechanical perception, utilizing the aforementioned robot, includes the following steps: S1: First, the vehicle moves in the picking area, identifies and locates the citrus fruits to be picked through the machine vision mechanism, and controls the picking robotic arm to drive the picking actuator to move to the vicinity of the target citrus fruits. S2: Control the two sets of mechanical clamping arms to move closer to each other to clamp the target citrus fruit, and cut the citrus fruit stem with the cutting knife; S3: Next, after cutting the fruit stem, the coating mechanism is activated to move it horizontally out of the mounting seat, and a coating agent is applied to the cut surface of the target citrus fruit stem. Then, the picking robotic arm is controlled to transport the target citrus to the designated position. Finally, the mechanical clamping arms are controlled to move away from each other to release the target citrus, thereby completing a single picking operation.

[0015] The beneficial effects of this invention are as follows: This invention integrates multiple functions such as machine vision guidance, mechanical perception adaptive grasping, fruit stem cutting, and immediate wound sealing, enabling the robot to automatically complete the entire process from identification and positioning to harvesting and post-harvest preservation in a single work cycle. This not only improves the automation and efficiency of harvesting operations, but more importantly, by immediately applying a coating agent to the cut surface of the fruit stem after cutting, it effectively blocks the main channels for water evaporation and pathogen invasion, thereby reducing the post-harvest rot rate and weight loss rate of the fruit, extending the shelf life and freshness period. While reducing reliance on manual labor, it effectively enhances the commercial value and economic benefits of citrus harvesting. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the harvesting robot structure of the present invention; Figure 2 For the present invention Figure 1 Another perspective structural diagram; Figure 3 This is a schematic diagram of the harvesting actuator structure of the present invention; Figure 4 For the present invention Figure 3 Another perspective structural diagram; Figure 5 For the present invention Figure 3 Structural sectional view; Figure 6 For the present invention Figure 5 A schematic diagram of a local structure.

[0017] In the diagram: 100, vehicle body; 200, harvesting robotic arm; 300, harvesting actuator; 301, rotating device; 302, mounting base; 303, waste discharge port; 304, bidirectional screw; 305, gripper; 306, elastic contact element; 307, pressure sensor; 308, bearing base; 309, telescopic device one; 310, telescopic device two; 311, mounting base; 312, cutting blade; 313, connecting base; 314, application sponge; 315, mounting cavity; 316, electromagnetic block; 317, elastic element; 318, liquid storage cavity; 319, application roller; 320, detection sensor; 321, liquid replenishment pipe; 322, rotating shaft; 323, pull rope; 324, tank; 325, scraper; 400, placement frame; 500, machine vision mechanism. Detailed Implementation

[0018] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0019] Example 1 Please see the appendix Figure 1-6 A citrus intelligent harvesting robot based on machine vision and mechanical perception fusion includes a vehicle body 100. Optionally, the vehicle body 100 in this embodiment can be a wheeled or tracked mobile platform to adapt to different terrains. A harvesting robotic arm 200 is mounted on the vehicle body 100. Optionally, the harvesting robotic arm 200 in this embodiment can be a six-axis robotic arm. The harvesting robotic arm 200 is equipped with a machine vision mechanism 500. In this embodiment, the machine vision mechanism 500 is, for example, a binocular stereo vision camera or an RGB-D depth camera. It is used to scan the orchard environment. By processing and analyzing the acquired images in real time, it can accurately identify citrus fruits and precisely calculate their three-dimensional spatial coordinates, maturity, and the distribution of surrounding branches and obstacles, thereby providing crucial positioning and navigation information for the entire robot. This is a conventional mechanism in the field and will not be described in detail here. The robotic arm 200 is equipped with a picking actuator 300 for picking citrus fruits at its execution end. The machine vision mechanism 500 first completes the identification and positioning of the target, guides the robotic arm 200 to plan and execute the optimal motion path to approach the target citrus fruit, and then picks the target citrus fruit through the end-effector picking actuator 300. The picking actuator 300 includes two sets of mechanical gripping arms that can move close to each other to grip the citrus fruit. Of course, the two mechanical gripping arms can also move away from each other to release the citrus fruit. Each mechanical gripping arm is provided with a mounting seat 311. Specifically, the mounting seat 311 is located at the end of the mechanical gripping arm away from the picking robot arm 200. Each of the two sets of mounting seats 311 has a cutting blade 312 for cutting the citrus fruit stem on its opposite side. One of the mounting seats 311 and located below the cutting blade 312 is provided with a horizontally movable coating mechanism. The coating mechanism is used to move horizontally out of the mounting seat 311 after cutting the citrus fruit stem and apply a coating agent to the cut surface of the citrus fruit stem to achieve an immediate physical seal for the picking wound. The mounting seat 311 is connected to the corresponding mechanical gripping arm through a drive member. The drive member is used to drive the mounting seat 311 to move up and down or horizontally. When cutting is required, the mounting seat 311 is driven to move horizontally through the drive member. After cutting, the mounting seat 311 can be driven to rise through the drive member so that the coating mechanism can coat the cut surface. Alternatively, the following are several embodiments of the above-mentioned coating agent: Example 1: An edible polysaccharide aqueous solution with chitosan as the main component and possessing natural antibacterial properties; Example 2: An aqueous emulsion composed of refined palm wax or beeswax, which can form an excellent water-resistant film on the wound surface; Example 3: A transparent film-forming agent compounded from sodium carboxymethyl cellulose (CMC) and a small amount of food-grade glycerin to balance barrier properties and toughness. The appropriate agent should be selected based on different preservation and processing requirements. This robot effectively prevents pathogens from invading and reduces moisture loss by promptly applying a coating agent to the cut surface of the citrus fruit after the fruit stalk is cut. This results in a lower post-harvest rot rate, extended shelf life, and increased commercial value of the citrus fruit.

[0020] Please see the appendix Figure 3-6Preferably, in this embodiment, both sets of mechanical gripping arms are slidably mounted on one side of the assembly base 302 via sliders. A bidirectional screw 304 is rotatably mounted inside the assembly base 302. The bidirectional screw 304 is threaded through the two sliders (the bidirectional screw 304 is threaded through the two sliders respectively through its two ends with oppositely oriented threaded sections). The bidirectional screw 304 is driven to rotate by a driving device (such as a servo motor and a reducer) mounted on the assembly base 302, thereby driving the two sliders to drive their respective mechanical gripping arms to perform synchronous, opposite, or linear movements, thus achieving stable gripping and releasing actions. The end of the assembly base 302 away from the mechanical gripping arms is connected to the output end of a rotating device 301 (such as a servo motor). The rotating device 301 is located at the execution end of the picking robot arm 200 and is used to drive the entire assembly base 302 and all its components to rotate.

[0021] Preferably, the mechanical clamping arm in this embodiment includes a gripper 305, and a pressure sensor 307 is embedded on the gripping surface of the gripper 305. The pressure sensor 307 can be a thin-film piezoresistive sensor or a strain gauge sensor to meet different range and accuracy requirements. The pressure sensor 307 is a conventional device in the art and will not be described in detail here. The detection end of the pressure sensor 307 is connected to an elastic contact 306 (made of silicone or flexible rubber) for contacting the outer wall of the citrus fruit. In this embodiment, both the pressure sensor 307 and the driving device are electrically connected to an external controller (such as a PLC or embedded industrial computer). The pressure sensor 307 is used to detect the pressure of the elastic contact 306 clamping the citrus fruit and sends a signal to the external controller when the pressure reaches a preset threshold. The external controller controls the driving device to stop working and lock the clamping state. In this way, adaptive compliant gripping based on real-time force feedback is realized, avoiding the problems of fruit squeezing damage or unstable gripping and falling off caused by excessively large or small force values ​​in traditional open-loop control, thus improving the reliability of harvesting operations and the fruit integrity rate.

[0022] Preferably, the driving component of this embodiment includes a support seat 308 that is vertically slidably disposed on the side wall of the mechanical clamping arm. The support seat 308 is driven to rise and fall relative to the mechanical clamping arm by a telescopic device 309 (e.g., an electric push rod or a linear module) disposed on the mechanical clamping arm. One end of the support seat 308 is slidably connected to the mounting base 311, for example, by a T-shaped slider and a T-shaped groove. A telescopic device 310 (e.g., an electric push rod or a linear module) is embedded in the support seat 308. The output end of the telescopic device 310 is connected to the mounting base 311 and is used to drive the mounting base 311 to move horizontally relative to the support seat 308. After the mechanical clamping arm grips the target citrus fruit, the telescopic device 2 310 drives the two mounting seats 311 to move closer together and cuts the fruit stem with the cutting blade 312. At this time, the cut surface of the fruit stem is exactly located in the area below the cutting blade 312. Then, the telescopic device 1 309 drives the mounting seats 311 upward to a preset height. This is to accurately align the fresh cut surface of the fruit stem and expose it to the working range of the coating mechanism that will be operated next, creating the best spatial position conditions for the coating agent to be applied immediately.

[0023] Preferably, the vehicle body 100 in this embodiment is also provided with a placement frame 400 for collecting the picked citrus fruits.

[0024] A method for intelligent citrus harvesting based on the fusion of machine vision and mechanical perception, utilizing the aforementioned robot, includes the following steps: S1: First, the vehicle body 100 moves in the picking area, and the machine vision mechanism 500 identifies and locates the citrus to be picked, and controls the picking robotic arm 200 to drive the picking actuator 300 to move to the vicinity of the target citrus. S2: Control the two sets of mechanical clamping arms to move closer to each other to clamp the target citrus, and cut the citrus fruit stem of the target citrus by the cutting blade 312; S3: Next, after cutting the fruit stem, the coating mechanism is activated to move horizontally out of the mounting base 311 to apply a coating agent to the cut surface of the target citrus fruit stem. Then, the picking robotic arm 200 is controlled to transport the target citrus to the designated position. Finally, the mechanical clamping arms are controlled to move away from each other to release the target citrus, thereby completing a single picking operation.

[0025] Example 2 Please see the appendix Figure 3-6 Based on Embodiment 1, in this embodiment, both sets of mounting bases 311 are provided with inclined surfaces on opposite sides. The vertical cross section of the mounting base 311 is a right trapezoid. The end of the inclined surface facing the gripper 305 is located on the inner side of the end away from the gripper 305. Both sets of inclined surfaces are provided with grooves 324 on opposite sides and below the cutting blade 312. The coating mechanism is located in one of the grooves 324. The coating mechanism includes a connecting seat 313 located in the tank 324, an application sponge 314 located at the bottom of the connecting seat 313, and an upper liquid section located below the tank 324 for supplying coating agent to the application sponge 314. A support rod is connected to one side of the connecting seat 313, and one end of the support rod extends into the mounting cavity 315 connected to one side of the corresponding tank 324 and is connected to a permanent magnet. One side of the permanent magnet is connected to the inner wall of the mounting cavity 315 through an elastic element 317 (such as a spring). An electromagnetic block 316 is located in the mounting cavity 315 and between the permanent magnet and the connecting seat 313. The electromagnetic block 316 is used to attract the permanent magnet when energized, so that it drives the connecting seat 313 and the application sponge 314 to move outward of the tank 324 through the support rod. Specifically, when the electromagnetic block 316 contacts the permanent magnet, the connecting seat 313 is in a preset position in another tank 324. When a coating operation is required, the control solenoid block 316 is energized to attract the permanent magnet block. The permanent magnet block overcomes the resistance of the elastic element 317 and moves, thereby driving the entire connecting seat 313 and the coating sponge 314 to move smoothly from inside the tank 324 to the outside through the support rod. The coating sponge 314 contacts the cut surface of the fruit stem to be treated, thereby achieving coating on the cut surface of the fruit stem.

[0026] Preferably, the application sponge 314 in this embodiment is disc-shaped and is located at one end of the rotating shaft 322. The rotating shaft 322 is rotatably inserted into the connecting seat 313. A torsion spring is provided at the connection between the rotating shaft 322 and the connecting seat 313. A pull rope 323 is wound around the outer wall of the rotating shaft 322. One end of the pull rope 323 extends into the mounting cavity 315 and is connected to the inner wall of one side of the mounting cavity 315. The pull rope 323 is used to pull the rotating shaft 322 to drive the application sponge 314 to rotate when the connecting seat 313 moves to the outside of the groove 324. When the electromagnetic block 316 is energized, it drives the connecting seat 313 to move outward of the groove 324. As the connecting seat 313 moves linearly, the pull rope 323 pulls the rotating shaft 322 to rotate against the resistance of the torsion spring, thereby causing the coating sponge 314 to rotate synchronously. When the electromagnetic block 316 is de-energized, the connecting seat 313 retracts under the action of the elastic element 317. At this time, the pull rope 323 loosens, and the torsion spring drives the rotating shaft 322 and the coating sponge 314 to rotate in opposite directions, and the pull rope 323 is wound up. In this way, the coating agent can be coated more evenly and fully on the cut surface of the fruit stem to improve the sealing effect.

[0027] Preferably, the liquid loading section in this embodiment includes a liquid storage cavity 318 located within the mounting base 311 and below the tank 324. A coating roller 319 is rotatably embedded within the liquid storage cavity 318 (the coating roller 319 can be a smooth or textured metal roller, or a porous sintered ceramic roller to enhance liquid carrying capacity, depending on the required transfer volume and liquid characteristics). A portion of the outer wall of the coating roller 319 is immersed in the coating agent within the liquid storage cavity 318, while another portion of its outer wall penetrates the top wall of the liquid storage cavity 318 and is placed within the tank 324 for sliding contact with the bottom of the coating sponge 314. The liquid storage cavity 318 stores liquid coating agent. When the coating sponge 314 returns with the connecting base 313, the bottom will... The friction coating roller 319 rotates to transfer the uniform liquid film it picks up onto the coating sponge 314, achieving "quantitative" liquid replenishment and reducing waste. The liquid storage chamber 318 is connected to an external liquid supply device (such as a micro liquid pump and a liquid storage tank) through a liquid replenishment pipe 321. The liquid storage chamber 318 is equipped with a detection sensor 320 (such as a float switch, capacitive or ultrasonic level sensor, etc.) for detecting the liquid level of the coating agent. The detection sensor 320 and the external liquid supply device are electrically connected to an external controller (as described above, not detailed here). The detection sensor 320 is used to send a signal to the external controller when the detected liquid level is lower than a preset height. The external controller controls the operation of the external liquid supply device.

[0028] Preferably, in this embodiment, another tank 324 has a scraper 325 on its bottom wall, and a discharge port 303 is provided on the side of the bottom wall of the tank 324 facing the cutting blade 312. One end of the discharge port 303 passes through the side wall of the corresponding mounting base 311. The scraper 325 is used to clean the bottom surface of the coating sponge 314 when the coating sponge 314 moves horizontally into the tank 324. Specifically, it scrapes off the residual coating agent and impurities attached to the bottom surface of the coating sponge 314. The scraped-off residual coating agent and impurities are discharged through the discharge port 303 to avoid accumulation in the tank 324, extend the service life of the coating sponge 314, and improve its coating quality on the cut surface of the fruit stem.

[0029] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A citrus intelligent harvesting robot based on machine vision and mechanical perception fusion, comprising a vehicle body (100), characterized in that: The vehicle body (100) is equipped with a picking robotic arm (200), the picking robotic arm (200) is equipped with a machine vision mechanism (500), and the execution end of the picking robotic arm (200) is equipped with a picking actuator (300) for picking citrus fruits. The picking actuator (300) includes two sets of mechanical clamping arms that can move close to each other to clamp the citrus fruit. Each mechanical clamping arm is provided with a mounting seat (311). Each of the two sets of mounting seats (311) is provided with a cutting blade (312) for cutting the citrus fruit stem on one side opposite to the other. A horizontally movable coating mechanism is provided in one of the mounting seats (311) and below the cutting blade (312). The coating mechanism is used to move horizontally out of the mounting seat (311) after cutting the citrus fruit stem and to apply a coating agent to the cut surface of the citrus fruit stem. The mounting seat (311) is connected to the corresponding mechanical clamping arm through a driving member. The driving member is used to drive the mounting seat (311) to move up and down or horizontally.

2. The robot according to claim 1, characterized in that, Both sets of mechanical clamping arms are slidably mounted on one side of the assembly base (302) via sliders. A bidirectional screw (304) is rotatably mounted inside the assembly base (302). The bidirectional screw (304) is threaded through the two sliders. The bidirectional screw (304) is driven to rotate by a drive device mounted on the assembly base (302). The end of the assembly base (302) away from the mechanical clamping arms is connected to the output end of the rotating device (301). The rotating device (301) is located at the execution end of the picking robot arm (200).

3. The robot according to claim 2, characterized in that, The mechanical clamping arm includes a gripper (305), and a pressure sensor (307) is embedded on the gripping surface of the gripper (305). The detection end of the pressure sensor (307) is connected to an elastic contact (306) for contacting the outer wall of the citrus fruit. The pressure sensor (307) is used to detect the pressure of the elastic contact (306) clamping the citrus fruit and control the drive device to stop working when the pressure reaches a preset threshold.

4. The robot according to claim 1, characterized in that, Both sets of mounting bases (311) have inclined surfaces on opposite sides, and both sets of inclined surfaces have grooves (324) on opposite sides and below the cutting blade (312). The coating mechanism is located in one of the grooves (324). The coating mechanism includes a connecting seat (313) located in the tank (324), an application sponge (314) located at the bottom of the connecting seat (313), and an upper liquid section located below the tank (324) for supplying coating agent to the application sponge (314). A support rod is connected to one side of the connecting seat (313), and one end of the support rod extends into the mounting cavity (315) connected to one side of the corresponding tank (324) and is connected to a permanent magnet. One side of the permanent magnet is connected to the inner wall of the mounting cavity (315) through an elastic element (317). An electromagnetic block (316) is provided in the mounting cavity (315) and between the permanent magnet and the connecting seat (313). The electromagnetic block (316) is used to attract the permanent magnet when energized, so that it drives the connecting seat (313) and the application sponge (314) to move to the outside of the tank (324) through the support rod.

5. The robot according to claim 4, characterized in that, The application sponge (314) is disc-shaped and is located at one end of the rotating shaft (322). The rotating shaft (322) is rotatably inserted into the connecting seat (313). A torsion spring is provided at the connection between the rotating shaft (322) and the connecting seat (313). A pull rope (323) is wound around the outer wall of the rotating shaft (322). One end of the pull rope (323) extends into the mounting cavity (315) and is connected to the inner wall of one side of the mounting cavity (315). The pull rope (323) is used to pull the rotating shaft (322) to drive the application sponge (314) to rotate when the connecting seat (313) moves to the outside of the groove (324).

6. The robot according to claim 4, characterized in that, The liquid loading section includes a liquid storage chamber (318) located in the mounting base (311) and below the tank (324). A coating roller (319) is rotatably embedded in the liquid storage chamber (318). A portion of the outer wall of the coating roller (319) is inside the liquid storage chamber (318), and another portion of the outer wall penetrates the top wall of the liquid storage chamber (318) and is placed in the tank (324) for sliding contact with the bottom of the coating sponge (314). The liquid storage chamber (318) stores a coating agent. The liquid storage chamber (318) is connected to an external liquid supply device through a replenishment pipe (321). The liquid storage chamber (318) is equipped with a detection sensor (320) for detecting the liquid level of the coating agent. The detection sensor (320) is used to control the external liquid supply device to work when the detected liquid level is lower than a preset height.

7. The robot according to claim 4, characterized in that, Another groove (324) has a scraper (325) on its bottom wall, and the bottom wall of the groove (324) has a waste discharge port (303) on the side of the scraper (325) facing the cutting blade (312). One end of the waste discharge port (303) passes through the side wall of the corresponding mounting base (311). The scraper (325) is used to clean the bottom surface of the application sponge (314) when the application sponge (314) moves horizontally into the groove (324).

8. The robot according to claim 1, characterized in that, The driving component includes a support seat (308) that is vertically slidably disposed on the side wall of the mechanical clamping arm. The support seat (308) is driven to rise and fall relative to the mechanical clamping arm by a telescopic device (309) disposed on the mechanical clamping arm. One end of the support seat (308) is slidably connected to the mounting seat (311). A second telescopic device (310) is embedded in the support seat (308). The output end of the second telescopic device (310) is connected to the mounting seat (311) and is used to drive the mounting seat (311) to move horizontally relative to the support seat (308).

9. The robot according to claim 1, characterized in that, The vehicle body (100) is also provided with a placement frame (400).

10. A method for intelligent citrus harvesting based on the fusion of machine vision and mechanical perception, utilizing the robot as described in any one of claims 1-9, characterized in that: Includes the following steps: S1: First, the vehicle body (100) moves in the picking area, identifies and locates the citrus to be picked through the machine vision mechanism (500), and controls the picking robotic arm (200) to drive the picking actuator (300) to move to the vicinity of the target citrus. S2: Control the two sets of mechanical clamping arms to move closer to each other to clamp the target citrus, and cut the citrus fruit stem of the target citrus by cutting blade (312); S3: Next, after cutting the fruit stem, the coating mechanism is activated to move horizontally out of the mounting base (311) to apply a coating agent to the cut surface of the target citrus fruit stem. Then, the picking robot arm (200) is controlled to transport the target citrus to the designated position. Finally, the mechanical clamping arms are controlled to move away from each other to release the target citrus, thereby completing a single picking operation.

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