A cell intelligent identification harvesting robot arm

Abstract

This invention discloses a robotic arm for intelligent identification and harvesting in agricultural machinery technology, comprising: a steering base, a first identification camera, a main arm mechanism, a forearm mechanism, a robotic arm structure, and a control device. The first identification camera is mounted on the steering base, and the main arm mechanism is rotatably connected to the steering base. The main arm mechanism is hinged to the forearm mechanism, and the robotic arm structure is hinged to the forearm mechanism. The control device is electrically connected to the steering base, the first identification camera, the main arm mechanism, the forearm mechanism, and the robotic arm structure. This invention solves the problems of poor flexibility and adaptability, low identification accuracy, easy damage to targets, and lack of a shearing mechanism in existing technologies.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a robotic arm for intelligent identification and harvesting in residential areas. Background Technology

[0002] With the development of intelligent agriculture, harvesting robots have gradually become a research hotspot. In agricultural breeding plot experiments and precision agriculture operations, it is necessary to harvest individual plants or plots of crops (such as corn and vegetables) planted in small areas to accurately measure yield and various agronomic traits. Existing technologies, such as the Chinese patent application with publication number CN118435791A, disclose an all-terrain applicable flexible mechanical claw for agricultural harvesting. This claw uses a multi-degree-of-freedom robotic arm in conjunction with flexible air-cushioned fingers to grasp the fruit, reducing mechanical damage to the fruit peel to a certain extent. However, existing technologies are mainly aimed at single-fruit harvesting in large-area farmland. When applied to plot experimental fields, where crop hybridization is conducted in a very small area to observe crop growth, precise harvesting with low loss is crucial. Existing robotic arms often use fixed-length linkage structures with limited extension and retraction, resulting in blind spots and poor adaptability. Furthermore, existing robotic arm structures rely solely on flexible air-cushioned fingers for grasping and lack a dedicated shearing mechanism for the fruit stem. In small-plot breeding trials, strict requirements exist for recording the stubble length of the fruit stalks. Simply grabbing and pulling can easily damage the plants or break the samples. Therefore, there is an urgent need for a robotic arm for intelligent identification and harvesting in small plots to solve these problems. Summary of the Invention

[0003] In view of this, the present invention provides a robotic arm for intelligent identification and harvesting in residential areas, which solves the problems of poor flexibility and adaptability, low identification accuracy, easy damage to targets and lack of shearing mechanism in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm for intelligent identification and harvesting in a residential area includes: a steering base, a first identification camera, a large arm mechanism, a small arm mechanism, a robotic arm structure, and a control device. The first identification camera is mounted on the steering base, the large arm mechanism is rotatably connected to the steering base, the large arm mechanism is hinged to the small arm mechanism, the robotic arm structure is hinged to the small arm mechanism, and the control device is electrically connected to the steering base, the first identification camera, the large arm mechanism, the small arm mechanism, and the robotic arm structure.

[0005] Furthermore, the steering gear base includes a fixed base, on which a first rotary motor and a first recognition camera are mounted. The output end of the first rotary motor is fixedly connected to a turntable, and a boom mechanism is fixedly connected to the turntable. Both the first rotary motor and the first recognition camera are electrically connected to the control device.

[0006] Furthermore, the boom mechanism includes a first rotary motor, a second rotary motor, a fixed support, a boom fixing sleeve, a boom telescopic arm, and a boom screw drive device. The fixed support is fixed above the steering gear base, and a first rotary motor is mounted on the fixed support. The output end of the first rotary motor is fixedly connected to the rotating wheels on both sides of the boom fixing sleeve. The second rotary motor is mounted on the other side of the boom fixing sleeve, and its output end is fixedly connected to the rotating wheels on both sides of the forearm mechanism. One end of the boom fixing sleeve is hinged to the fixed support via the rotating wheels on both sides of the boom fixing sleeve, and the other end is hinged to the forearm mechanism via the rotating wheels on both sides of the forearm mechanism. The boom telescopic arm is coaxially sleeved inside the boom fixing sleeve. The boom screw drive device is mounted on the end of the boom fixing sleeve near the fixed support, and its output end is fixedly connected to the boom telescopic arm. The first rotary motor, the second rotary motor, and the boom screw drive device are all electrically connected to the control device.

[0007] Furthermore, the forearm mechanism includes a No. 3 rotary motor, a forearm fixing sleeve, a forearm telescopic arm, and a forearm screw drive device. The No. 3 rotary motor is installed at one end of the forearm fixing sleeve, and the output end of the No. 3 rotary motor is fixedly connected to the rotating wheels on both sides of the manipulator structure. One end of the forearm fixing sleeve is hinged to the upper arm mechanism through the rotating wheels on both sides of the forearm fixing sleeve, and the other end is hinged to the manipulator structure through the rotating wheels on both sides of the manipulator structure. The forearm telescopic arm is coaxially sleeved inside the forearm fixing sleeve. The forearm screw drive device is installed at the other end of the forearm fixing sleeve, and the output end of the forearm screw drive device is fixedly connected to the forearm telescopic arm. Both the No. 3 rotary motor and the forearm screw drive device are electrically connected to the control device.

[0008] Furthermore, the robotic arm structure includes a second rotary motor, a third rotary motor, a fixed joint, a hinge, a movable component, a support frame, and the robotic arm structure itself. Rotating wheels are installed on both sides of the fixed joint, which is hinged to the forearm mechanism via these wheels. A second rotary motor is mounted on the fixed joint, and its output end is fixedly connected to the hinge. The hinge is hinged to the movable component. A support frame is fixedly connected below the movable component, and a second recognition camera is disposed within the support frame. A third rotary motor is fixedly connected below the support frame, and the output end of the third rotary motor is fixedly connected to the robotic arm structure. The second rotary motor, the third rotary motor, the second recognition camera, and the robotic arm structure are all electrically connected to a control device.

[0009] Furthermore, the robotic arm structure includes a left bionic robotic arm and a right bionic robotic arm, which are symmetrically arranged. Both the left and right bionic robotic arms are connected to the robotic arm structure via fixed feet, and each of the left and right bionic robotic arms has a blade hinged to its end.

[0010] Furthermore, flexible airbags are provided on the inner sides of both the left and right bionic robotic arms.

[0011] The beneficial effects of this invention are as follows: 1. High level of intelligence and precise operation: By setting up a first recognition camera and a second recognition camera, a dual recognition mechanism is achieved, from large-scale target search to precise localization within a small area. The control device can autonomously decide the movement trajectory and grasping action of the robotic arm based on visual information, realizing non-contact, intelligent identification and harvesting of individual crops within the plot, significantly reducing manual intervention and avoiding missed or incorrect harvesting.

[0012] 2. Flexible structure and strong adaptability: By designing a steering base with horizontal rotation function, a tilting and telescopic boom mechanism, a tilting and telescopic forearm mechanism, and a manipulator structure with multi-degree-of-freedom rotation function, the entire robotic arm possesses extremely high mobility in three-dimensional space. In particular, both the boom and forearm adopt a combination of telescopic sleeves and lead screw drives, which, while ensuring a compact structure, enables dynamic adjustment of the working radius, making it very suitable for scenarios such as experimental plots with complex planting environments, varying plant spacing, and limited space.

[0013] 3. Integrated gripping and cutting for high efficiency: The robotic arm integrates a bionic robotic arm and blade at its end, mimicking the gripping and cutting motions of manual harvesting. The left and right bionic robotic arms provide stable gripping, while the end blade achieves precise cutting. The two actions are completed in tandem, allowing for harvesting with a single positioning, resulting in high efficiency and minimal damage to the plant.

[0014] 4. Flexible contact and low damage rate: Flexible airbags are set on the inner side of the left and right bionic robotic arms. When grasping fruits or ears of fruit, they can adapt to the shape of the fruit surface and provide cushioning, avoiding the squeezing damage to the fruit caused by rigid grippers. This effectively improves the marketability of the harvested materials, which is especially important for the precious experimental materials in the breeding plot.

[0015] 5. Modular design, easy to maintain: The functional modules such as the steering gear base, boom mechanism, arm mechanism, and robot structure are relatively independent and connected by standard rotating wheels and hinges, which facilitates manufacturing, assembly, debugging, and subsequent maintenance and replacement, reducing the total life cycle cost. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; In the figure: 1-Fixed base; 2-First recognition camera; 3-Turntable; 4-Fixed support; 5-Upright arm fixed sleeve; 6-Upright arm screw drive device; 7-Upright arm telescopic arm; 8-Forearm fixed sleeve; 9-Forearm telescopic arm; 10-Second rotary motor; 11-Fixed joint; 12-Hinge; 13-Moving component; 14-Second recognition camera; 15-Support frame; 16-Third rotary motor; 17-Fixed foot; 18-Left bionic robotic arm; 19-Right bionic robotic arm; 20-Flexible airbag; 21-Blade. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see the appendix Figure 1 This invention provides a robotic arm for intelligent identification and harvesting in residential areas, comprising: a steering base, a first identification camera 2, a large arm mechanism, a small arm mechanism, a robotic arm structure, and a control device. The first identification camera 2 is mounted on the steering base, the large arm mechanism is rotatably connected to the steering base, the large arm mechanism is hinged to the small arm mechanism, the robotic arm structure is hinged to the small arm mechanism, and the control device is electrically connected to the steering base, the first identification camera 2, the large arm mechanism, the small arm mechanism, and the robotic arm structure.

[0020] Preferably, a first rotary motor and a first recognition camera 2 are mounted on the fixed base 1. The output end of the first rotary motor is vertically upward and fixedly connected to a turntable 3. The turntable 3 can rotate 0-360 degrees in the horizontal plane with the output shaft of the first rotary motor. The lower end of the boom mechanism is fixedly connected to the turntable 3. Both the first rotary motor and the first recognition camera 2 are electrically connected to the control device. During operation, the control device drives the first rotary motor to rotate the entire boom structure horizontally, changing the working azimuth angle of the robotic arm. The first recognition camera 2 can then identify the crop and provide an image.

[0021] Preferably, the boom mechanism includes a first rotary motor, a second rotary motor, a fixed support 4, a boom fixing sleeve 5, a boom telescopic arm 7, and a boom screw drive device 6. The fixed support 4 is fixed above the steering gear base. The first rotary motor is mounted on the fixed support 4, and its output end is fixedly connected to the rotating wheels on both sides of the boom fixing sleeve 5. The second rotary motor is mounted on the other side of the boom fixing sleeve 5, and its output end is fixedly connected to the rotating wheels on both sides of the forearm mechanism. One end of the boom fixing sleeve 5 is hinged to the fixed support 4 via rotating wheels on both sides of the boom fixing sleeve 5, and the other end is hinged to the forearm mechanism via rotating wheels on both sides of the forearm mechanism. The boom telescopic arm 7 is coaxially sleeved inside the boom fixing sleeve 5. The boom screw drive device 6 is installed at one end of the boom fixing sleeve 5 near the fixed support 4. The output end of the boom screw drive device 6 is fixedly connected to the boom telescopic arm 7. The first rotating motor, the second rotating motor, and the boom screw drive device 6 are all electrically connected to the control device.

[0022] The boom fixing sleeve 5 is a hollow, square or circular cross-section long cylinder. The boom telescopic arm 7 is coaxially sleeved inside the boom fixing sleeve 5, and the two form a sliding telescopic pair. The boom screw drive device 6 is installed inside the boom fixing sleeve 5 near the fixed support 4, and the screw nut pair is fixedly connected to the inner end of the boom telescopic arm 7.

[0023] During operation, the first rotary motor starts, driving the boom fixed sleeve 5 to swing up and down around the hinge point, achieving the pitch movement of the boom mechanism. The second rotary motor starts, driving the forearm mechanism to swing back and forth relative to the boom mechanism, achieving the pitch movement of the forearm mechanism. The boom screw drive device 6 starts, driving the boom telescopic arm 7 to extend or retract along the axis of the boom fixed sleeve 5 through screw rotation, thereby changing the overall length of the boom mechanism. The first rotary motor, the second rotary motor, and the boom screw drive device 6 are all electrically connected to the control device to achieve precise position and speed control.

[0024] Preferably, the forearm mechanism includes a third rotary motor, a forearm fixing sleeve 8, a forearm telescopic arm 9, and a forearm screw drive device. The third rotary motor is installed at one end of the forearm fixing sleeve 8, and the output end of the third rotary motor is fixedly connected to the rotating wheels on both sides of the manipulator structure. One end of the forearm fixing sleeve 8 is hinged to the upper arm mechanism through the rotating wheels on both sides of the forearm fixing sleeve 8, and the other end is hinged to the manipulator structure through the rotating wheels on both sides of the manipulator structure. The forearm telescopic arm 9 is coaxially sleeved inside the forearm fixing sleeve 8. The forearm screw drive device is installed at the other end of the forearm fixing sleeve 8, and the output end of the forearm screw drive device is fixedly connected to the forearm telescopic arm 9. Both the third rotary motor and the forearm screw drive device are electrically connected to the control device.

[0025] During operation, the No. 3 rotary motor drives the robotic arm structure to rotate around the hinge point, achieving the tilting of the robotic arm structure. The rotation of the lead screw pushes the telescopic arm 9 of the forearm to extend or retract along the axis of the fixed sleeve 8 of the forearm, thereby changing the overall length of the robotic arm structure.

[0026] Preferably, the robotic arm structure includes a second rotary motor 10, a third rotary motor 16, a fixed joint 11, a hinge 12, a movable component 13, a support frame 15, and the robotic arm structure. Rotating wheels are installed on both sides of the fixed joint 11, and the fixed joint 11 is hinged to the forearm mechanism via these rotating wheels. The second rotary motor 10 is installed on the fixed joint 11, and its output end is fixedly connected to the hinge 12. The hinge 12 is hinged to the movable component 13. The support frame 15 is fixedly connected below the movable component 13, and a second recognition camera 14 is disposed within the support frame 15. The third rotary motor 16 is fixedly connected below the support frame 15, and the robotic arm structure is fixedly connected to its output end. The second rotary motor 10, the third rotary motor 16, the second recognition camera 14, and the robotic arm structure are all electrically connected to a control device.

[0027] The side of the hinge 12 is hinged to the movable part 13, forming a connection that can swing within a small range. The second recognition camera 14 is used for close-range and accurate identification of the position, maturity, and posture of the target fruit or bunch.

[0028] Preferably, the robotic arm structure includes a left bionic robotic arm 18 and a right bionic robotic arm 19, which are symmetrically arranged. Both the left and right bionic robotic arms 18 and 19 are connected to the robotic arm structure via fixed feet 17, and each of the ends of the left and right bionic robotic arms 18 and 19 is hinged with a blade 21.

[0029] Both the left bionic robotic arm 18 and the right bionic robotic arm 19 have blades 21 hinged at their ends for cutting fruit stalks or vines.

[0030] During operation, the second rotary motor 10 drives the hinge 12 and the entire gripping unit below it to rotate horizontally, adjusting the gripping direction. The third rotary motor 16 drives the left and right bionic robotic arms 19 to rotate, adjusting the angle of the gripping plane. The second recognition camera 14 sends the close-up image to the control device. After analysis, the control device drives the left and right bionic robotic arms 19 to open and close, clamping the target and completing the cutting action through the end blade 21.

[0031] Preferably, the inner sides of both the left bionic robotic arm 18 and the right bionic robotic arm 19 are provided with flexible airbags 20 to buffer the gripping force and prevent damage to the fruit.

[0032] The working principle of this invention is as follows: Global scanning and positioning: The control device activates the first identification camera 2 to capture images of the crop canopy within the area, identify mature target ears of fruit or fruits, and calculate their three-dimensional spatial coordinates.

[0033] Coarse positioning and movement: The control device drives the No. 1 rotary motor of the steering base to turn the entire robotic arm in the target direction. At the same time, it drives the No. 1 and No. 2 rotary motors of the upper arm mechanism, the upper arm lead screw drive device 6, and the lower arm lead screw drive device and No. 3 rotary motor of the lower arm mechanism to quickly move the robotic arm structure to the vicinity of the target.

[0034] Precise identification and alignment: After the robotic arm approaches the target, the second identification camera 14 starts working to acquire high-definition images and distance information of the target for precise positioning and posture recognition. Based on the feedback, the control device finely adjusts the position and angle of the second rotary motor 10, the third rotary motor 16, and each arm segment, so that the bionic robotic arm accurately aligns with the target fruit.

[0035] Grasping and Harvesting: The control device issues a command, and the left and right bionic robotic arms 19 close, with the inner flexible airbags 20 making flexible contact with the fruit and providing sufficient gripping force. At the same time, the blades 21 at the ends move to cut off the fruit stem or connecting parts.

[0036] Placement and Reset: The robotic arm grips the harvested fruit. Under the command of the control device, the robotic arm moves in the opposite direction, transporting the fruit to the designated collection container. The bionic robotic arm then opens and releases the fruit. The robotic arm then resets, ready for the next harvesting operation.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A robotic arm for intelligent identification and harvesting in residential communities, characterized in that, include: The steering gear base, the first identification camera (2), the upper arm mechanism, the lower arm mechanism, the manipulator structure and the control device are provided. The first identification camera (2) is installed on the steering gear base. The upper arm mechanism is rotatably connected to the steering gear base. The upper arm mechanism is hinged to the lower arm mechanism. The manipulator structure is hinged to the lower arm mechanism. The control device is electrically connected to the steering gear base, the first identification camera (2), the upper arm mechanism, the lower arm mechanism and the manipulator structure respectively.

2. The robotic arm for intelligent identification and harvesting in a residential area according to claim 1, characterized in that, The steering gear base includes a fixed base (1), on which a first rotary motor and a first identification camera (2) are installed. The output end of the first rotary motor is fixedly connected to a turntable (3), and a large arm mechanism is fixedly connected to the turntable (3). The first rotary motor and the first identification camera (2) are both electrically connected to the control device.

3. The robotic arm for intelligent identification and harvesting in a residential area according to claim 1, characterized in that, The boom mechanism includes a first rotating motor, a second rotating motor, a fixed support (4), a boom fixing sleeve (5), a boom telescopic arm (7), and a boom screw drive device (6). The fixed support (4) is fixed above the steering gear base. The first rotating motor is mounted on the fixed support (4). The output end of the first rotating motor is fixedly connected to the rotating wheels on both sides of the boom fixing sleeve (5). The second rotating motor is mounted on the other side of the boom fixing sleeve (5). The output end of the second rotating motor is fixedly connected to the rotating wheels on both sides of the forearm mechanism. One end of the sleeve (5) is hinged to the fixed support (4) via rotating wheels on both sides of the upper arm fixed sleeve (5), and the other end is hinged to the lower arm mechanism via rotating wheels on both sides of the lower arm mechanism. The upper arm telescopic arm (7) is coaxially sleeved inside the upper arm fixed sleeve (5). The upper arm screw drive device (6) is installed at one end of the upper arm fixed sleeve (5) near the fixed support (4). The output end of the upper arm screw drive device (6) is fixedly connected to the upper arm telescopic arm (7). The first rotating motor, the second rotating motor and the upper arm screw drive device (6) are all electrically connected to the control device.

4. The robotic arm for intelligent identification and harvesting in a residential area according to claim 1, characterized in that, The forearm mechanism includes a No. 3 rotary motor, a forearm fixing sleeve (8), a forearm telescopic arm (9), and a forearm screw drive device. The No. 3 rotary motor is installed at one end of the forearm fixing sleeve (8), and the output end of the No. 3 rotary motor is fixedly connected to the rotating wheels on both sides of the manipulator structure. One end of the forearm fixing sleeve (8) is hinged to the upper arm mechanism through the rotating wheels on both sides of the forearm fixing sleeve (8), and the other end is hinged to the manipulator structure through the rotating wheels on both sides of the manipulator structure. The forearm telescopic arm (9) is coaxially sleeved inside the forearm fixing sleeve (8). The forearm screw drive device is installed at the other end of the forearm fixing sleeve (8), and the output end of the forearm screw drive device is fixedly connected to the forearm telescopic arm (9). The No. 3 rotary motor and the forearm screw drive device are both electrically connected to the control device.

5. A robotic arm for intelligent identification and harvesting in a residential area according to claim 1, characterized in that, The robotic arm structure includes a second rotary motor (10), a third rotary motor (16), a fixed joint (11), a hinge (12), a movable component (13), a support frame (15), and the robotic arm structure itself. Rotating wheels are installed on both sides of the fixed joint (11), and the fixed joint (11) is hinged to the forearm mechanism via these rotating wheels. The second rotary motor (10) is installed on the fixed joint (11), and its output end is fixedly connected to the hinge (12). The hinge (12) is hinged to the movable part (13). A support frame (15) is fixedly connected to the lower part of the movable part (13). A second recognition camera (14) is installed inside the support frame (15). A third rotary motor (16) is fixedly connected to the lower part of the support frame (15). A robotic arm structure is fixedly connected to the output end of the third rotary motor (16). The second rotary motor (10), the third rotary motor (16), the second recognition camera (14), and the robotic arm structure are all electrically connected to the control device.

6. A robotic arm for intelligent identification and harvesting in a residential area according to claim 5, characterized in that, The robotic arm structure includes a left bionic robotic arm (18) and a right bionic robotic arm (19). The left bionic robotic arm (18) and the right bionic robotic arm (19) are symmetrically arranged. The left bionic robotic arm (18) and the right bionic robotic arm (19) are both connected to the robotic arm structure through fixed feet (17). The ends of the left bionic robotic arm (18) and the right bionic robotic arm (19) are hinged with blades (21).

7. A robotic arm for intelligent identification and harvesting in a residential area according to claim 6, characterized in that, Flexible airbags (20) are provided on the inner sides of both the left bionic robotic arm (18) and the right bionic robotic arm (19).

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