Camellia fruit adaptive picking device based on visual positioning and flexible pushing and cutting

Abstract

The application relates to a camellia oleifera fruit self-adaptive picking device based on visual positioning and flexible prying and cutting, and belongs to the technical field of agricultural machinery. The device comprises a mechanical arm, a visual perception module and a control system. A flexible prying and cutting end effector is installed at the tail end of the mechanical arm. The end effector comprises a mounting seat, a clamping plate, a flexible prying wheel and a hidden cutting assembly. A torque sensor is connected between the mechanical arm and the end effector. During operation, the clamping plate encloses the fruit, and the flexible prying wheel rotates in opposite directions to apply frictional traction. When the real-time pulling force monitored by the torque sensor reaches a preset pulling resistance threshold, the control system instructs the prying wheel to stop rotating and lock, and drives a blade hidden in the front end wall of the clamping plate to extend and cut off the fruit stem. The application effectively avoids the risk of mistakenly damaging flower buds in dense tree crowns, and realizes safe, lossless and self-adaptive picking of irregular fruits.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically, it relates to an adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting. Background Technology

[0002] Camellia oleifera, as an important woody edible oilseed plant, has its fruit harvesting a crucial but time-consuming and labor-intensive step in the entire industry. In its natural, unstructured growth environment, Camellia oleifera fruits typically exhibit dense clusters, short pedicels, and concealed locations. Furthermore, Camellia oleifera trees possess the biological characteristic of "flowering and fruiting on the same tree," meaning that when mature fruits are harvested, flower buds or young fruits that determine the following year's yield often grow closely alongside the branches. Currently, automated mechanical harvesting of Camellia oleifera fruits mainly relies on robotic arms equipped with various end effectors. Traditional end effectors often employ open shearing blades or rigid clamping and pulling mechanisms. However, when faced with the complex microenvironment within the tree canopy, these solutions reveal specific physical interference and control adaptability issues.

[0003] Firstly, there is the risk of spatial interference from open cutting components. When existing harvesting devices perform cutting actions, the blades are directly exposed to the external environment. Since the area around the camellia fruit is intertwined with dense non-target branches and leaves, the open blades are prone to unexpected physical shearing during their dynamic extension and closure trajectories, thereby accidentally damaging the surrounding flower buds and mother branches, causing irreversible mechanical damage to the fruit tree's yield in the following year. Secondly, rigid contact has poor mechanical compatibility with irregular fruits. Naturally grown camellia fruits vary significantly in size and are irregularly spherical in shape. Existing rigid grippers or friction wheels made of a single material cannot adaptively retract radially according to the actual geometric boundaries when moving the fruit. When dealing with large fruits, they are prone to overload and squeezing, which can cause damage to the peel. When dealing with small fruits, the surface slippage occurs due to insufficient positive pressure, and effective traction cannot be established. Third, the one-way decoupling between the picking action and the connection state of the fruit stalk is problematic. The fruit stalk breakage threshold varies greatly depending on the state of the camellia fruit. Existing control logic often uses blind pulling and cutting with constant time or stroke. When encountering fruits that are very easy to fall off, if the fruit stalk breaks naturally in advance, the actuator will continue to spin and rub against the fruit peel, and blindly trigger the blade to pop out as originally planned. This not only increases the unnecessary energy consumption of the electromagnetic mechanism, but also aggravates the mechanical wear of the blade edge. Summary of the Invention

[0004] The purpose of this invention is to provide an adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting, which solves the problems of blind cutting and mechanical waste caused by the exposed blades easily damaging flower buds and rigid traction easily damaging the fruit peel when the existing camellia fruit harvesting device operates in complex unstructured canopies.

[0005] The objective of this invention can be achieved through the following technical solutions: An adaptive harvesting device for camellia oleifera fruits based on visual positioning and flexible cutting includes a frame, a robotic arm, a visual perception module, and a control system. The robotic arm is mounted on the frame, and the visual perception module is mounted on the robotic arm. The robotic arm and the visual perception module are communicatively connected to the control system. The device also includes: A flexible cutting end effector, installed at the end of the robotic arm, includes a mounting base, two sets of clamping plates, a flexible dial, and a concealed cutting assembly. The two sets of clamping plates are hinged to the mounting base and close together to form an enveloping cavity. The flexible dial is rotatably connected to the inner side of the clamping plates. The concealed cutting assembly is installed at the end of the clamping plates away from the mounting base. The concealed cutting assembly has a blade, which is located in the front wall of the clamping plates. A torque sensor is connected between the robotic arm and the flexible cutting end effector. The torque sensor is communicatively connected to the control system, which has a preset pull resistance threshold. The control system sends opposing rotation commands to the two sets of flexible dials. The torque sensor sends the detected real-time tension data to the control system. When the control system compares and determines that the real-time tension data is not less than the pull-out resistance threshold, it sends a stop rotation command to the flexible dials and an extension action command to the concealed cutting assembly.

[0006] Furthermore, the rear parts of the two sets of clamps are respectively connected to the power output end of the telescopic cylinder. The outer side wall of the clamp is an outwardly convex arc surface, and the end of the clamp away from the mounting seat is a wedge shape that converges inward.

[0007] Furthermore, the flexible dial is cylindrical, and the rotation center axis of the flexible dial is arranged perpendicular to the length extension direction of the clamping plate.

[0008] Furthermore, a micro servo motor is fixed to the inner wall of the clamping plate, and the output shaft of the micro servo motor is connected to the central shaft of the flexible dial.

[0009] Furthermore, the clamping plate has a wire inlet groove at one end away from the mounting base, and the concealed cutting assembly includes a reciprocating electromagnetic slider, which is fixed in the internal cavity of the clamping plate, and the blade is fixed at the movable end of the reciprocating electromagnetic slider.

[0010] Furthermore, the blade is a V-shaped blade, and the blade moves in a straight line under the drive of the reciprocating electromagnetic slider. The movement trajectory of the blade passes through the inlet slot and is completely within the outer contour line of the clamping plate.

[0011] Furthermore, the flexible dial includes an internal rigid support shaft, an elastic buffer layer wrapped around the internal rigid support shaft, and an outermost silicone skin.

[0012] Furthermore, the elastic buffer layer includes multiple compression springs distributed radially, and the outer surface of the silicone skin is evenly covered with granular soft rubber protrusions.

[0013] Furthermore, the torque sensor is a six-axis torque sensor, the upper end face of which is fixed to the end flange of the robotic arm by bolts, and the lower end face of which is fixedly connected to the mounting base.

[0014] Furthermore, the control system has a preset resistance change threshold. When the real-time pulling force data does not reach the pulling resistance threshold and the resistance decrease is greater than the resistance change threshold within a set time, the control system sends a stop rotation command to the flexible dial and a containment and retention command to the concealed cutting component.

[0015] The beneficial effects of this invention are: 1. The present invention hides the cutting component in the internal cavity at the front end of the clamping plate, and the movement trajectory of the blade is mechanically limited within the inlet groove and the outer contour line of the clamping plate. When the device moves through and closes in narrow and dense unstructured branches and leaves, the smooth outer shell physically shields the blade, eliminating the risk of accidentally damaging surrounding flower buds and immature fruits caused by open blades.

[0016] 2. The flexible dial of this invention has a three-layer composite structure consisting of a rigid support shaft, a radial compression spring matrix, an elastic buffer layer, and a silicone skin with granular protrusions. This structure separates the transmission of force from the absorption of strain, and can generate large-scale radial adaptive yielding according to the actual size and irregular contour of the camellia fruit, transforming rigid line contact into flexible coating contact. While ensuring stable pulling force, it eliminates fruit skin damage caused by overload compression.

[0017] 3. The control system of this invention deeply integrates force feedback data. In addition to the traditional pull resistance threshold triggering cutting mechanism, it introduces dynamic identification logic of resistance mutation threshold. When it detects that the real-time pull force has not reached the limit but a cliff-like unloading occurs, the system can accurately determine that the fruit stem has fallen off naturally and immediately cut off the power of the dial wheel to perform static friction and pressure maintenance. At the same time, it blocks the excitation pulse of the cutting component to keep it in a concealed and contained posture. This solution effectively avoids the ineffective idle friction of the dial wheel after the fruit falls off prematurely, reduces the energy consumption of the electromagnetic mechanism, and extends the service life of the micro cutting tool. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the harvesting device of the present invention; Figure 2 This is a top view of the flexible cutting end effector of the present invention. Figure 3 Top sectional view of the pneumatic opening and closing structure of the flexible cutting end effector Figure 4 Schematic diagram of the inner side of the clamping plate and the drive structure of the dial wheel Figure 5 Schematic diagram of concealed cutting component structure Figure 6 Schematic diagram of the axial cross-sectional structure of the flexible dial wheel Figure 7 for Figure 6 Enlarged view of part A in the middle Figure 8 Schematic diagram of the cable inlet groove at the front end of the clamping plate Figure 9 Adaptive harvesting control logic flowchart.

[0020] The attached diagram lists the components represented by each number as follows: 1-Adaptive harvesting device for camellia fruit, 10-Frame, 11-Robotic arm, 12-Visual perception module, 13-Control system, 14-Agricultural chassis, 15-Collection net; 2-Flexible cutting end effector, 20-Mounting base, 21-Clamping plate, 22-Flexible dial, 23-Concealed cutting assembly, 24-Telescopic cylinder, 25-Rotating pin, 26-Metal connecting rod, 27-Solenoid directional valve, 28-Miniature servo motor; 21-Clamping plate, 210-Envelope cavity, 211-Inlet groove; 22-Flexible dial, 220-Internal rigid support shaft, 221-Elastic buffer layer, 222-Silicone skin, 223-Compression spring, 224-Particle soft rubber protrusion; 23-Concealed cutting assembly, 230-Blade, 231-Electromagnetic slider, 232-Stator assembly, 233-Moving end, 234-Push rod, 235-Return spring; 3-Torque sensor, 30-Flange. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention.

[0022] Example 1: An adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting includes a frame 10, a robotic arm 11, a visual perception module 12, and a control system 13. The robotic arm 11 is mounted on the frame 10, and the visual perception module 12 is mounted on the robotic arm 11. The robotic arm 11 and the visual perception module 12 are communicatively connected to the control system 13. It also includes a flexible cutting end effector 2, mounted on the end of the robotic arm 11, comprising a mounting base 20, two sets of clamping plates 21, flexible dials 22, and a concealed cutting assembly 23. The clamping plate 21 is hinged to the mounting base 20. Two sets of clamping plates 21 close together to form an enveloping cavity 210. The flexible dial 22 is rotatably connected to the inner side of the clamping plate 21. The concealed cutting assembly 23 is installed at the end of the clamping plate 21 away from the mounting base 20. The concealed cutting assembly 23 has a blade 230, which is located within the front wall of the clamping plate 21. A torque sensor 3 is connected between the robotic arm 11 and the flexible cutting end effector 2. The torque sensor 3 is communicatively connected to the control system 13. The control system 13 contains... A pre-set pull-out resistance threshold is provided. The control system 13 sends opposing rotation commands to the two sets of flexible dials 22. The torque sensor 3 sends the detected real-time pull data to the control system 13. When the control system 13 determines that the real-time pull data is not less than the pull-out resistance threshold, it sends a stop rotation command to the flexible dials 22 and an extension action command to the concealed cutting assembly 23. The rear parts of the two sets of clamping plates 21 are respectively connected to the power output end of the telescopic cylinder 24. The outer side wall of the clamping plate 21 is an outwardly convex arc surface. The clamping plate 21 is far away from the... One end of the mounting base 20 is wedge-shaped and tapers inward; the flexible dial 22 is cylindrical, and the rotation center axis of the flexible dial 22 is arranged perpendicular to the length extension direction of the clamping plate 21; a micro servo motor 28 is fixed on the inner side wall of the clamping plate 21, and the output shaft of the micro servo motor 28 is connected to the central axis of the flexible dial 22; the torque sensor 3 is a six-axis torque sensor 3, the upper end face of the six-axis torque sensor 3 is fixed to the end flange 30 of the robotic arm 11 by bolts, and the lower end face of the six-axis torque sensor 3 is fixedly connected to the mounting base 20.

[0023] The device provided in this embodiment constructs a hardware and software collaborative operation system to address the problem of automated harvesting of densely clustered camellia fruits with concealed stalks in unstructured natural environments. Figure 1As shown, the physical architecture relies on the frame 10 as the supporting foundation. The frame 10 is mounted on a movable agricultural chassis 14 to meet the needs of forest operations. A multi-degree-of-freedom robotic arm 11 is installed on top of the frame 10. The robotic arm 11 has multiple rotary joints, which can adjust its posture and plan its trajectory in three-dimensional space. The visual perception module 12 uses a camera device with depth information acquisition capabilities. It is installed on the side of the flange 30 at the end of the robotic arm 11 or on the top edge of the flexible cutting end effector 2 mounting base 20, so that the camera's line of sight is parallel to the working direction of the end effector 2. The visual perception module 12 scans the canopy layer in front in real time to obtain three-dimensional point cloud data of the camellia fruit and surrounding branches. It uses a deep learning visual neural network algorithm to identify the camellia fruit in the image. The two-dimensional contour boundary and mask of the tea fruit are used to segment the fruit object from the background of the tree canopy. Combined with the depth information obtained by the camera, the system extracts the three-dimensional spatial coordinates of the pixels within the two-dimensional contour. The geometric center of the point cloud is calculated by the centroid calculation algorithm or the sphere fitting algorithm, and the three-dimensional spatial coordinates of the target tea fruit in the base coordinate system of the robotic arm 11 are locked. The control system 13, as the information processing and command distribution center of the device, receives the target coordinate information transmitted in real time by the visual perception module 12 through the communication protocol. After inverse kinematics calculation, it generates the joint drive commands and directs the robotic arm 11 to deliver the end effector to the front of the target tea fruit. During the approach to the target and subsequent physical interaction operations, the device needs to prepare for mechanical perception and response for interference contact.

[0024] like Figure 2As shown, the force feedback loop relies on the physical series connection mechanism of the six-axis torque sensor 3; the six-axis torque sensor 3 can simultaneously measure the force along the spatial coordinate axis and the torque around the axis; in terms of mechanical assembly and connection, the upper end face of the six-axis torque sensor 3 is rigidly fixed to the end flange 30 of the robotic arm 11 by bolts, and the lower end face of the six-axis torque sensor 3 is fixedly connected to the mounting base 20 of the flexible cutting end effector 2 by bolts or positioning pins; the flexible cutting end effector 2 itself has no parts that directly contact the robotic arm 11 body, and the six-axis torque sensor 3 acts as a rigid connection bridge between the end effector 2 and the robotic arm 11, forming a force transmission structure; during the operation, when the flexible wheel 22 clamps the fruit and pulls it downward, the taut fruit stem generates an upward pulling resistance on the flexible wheel 22; pulling The resistance is transmitted along the clamping plate 21 to the mounting base 20, and then to the lower end face of the six-axis torque sensor 3. The six-axis torque sensor 3 has a metal elastomer inside, and strain gauges that form a Wheatstone bridge circuit are attached to its surface. When the sensor is subjected to longitudinal tensile resistance, the internal metal elastomer undergoes micron-level deformation, causing the strain gauges attached to it to stretch or compress, resulting in a change in the resistance value of the strain gauges. The change in resistance breaks the balance of the bridge circuit and outputs an analog voltage signal. The signal processing board inside the sensor captures this voltage change and converts it from an analog electrical signal into a digital signal. The digital signal is then continuously sent to the control system 13 in the main control computer via an industrial communication bus protocol. The microprocessor inside the control system 13 uses a built-in solution matrix algorithm to separate the tensile force data along the working axis from the spatial composite force, providing a quantitative physical basis for subsequent action decisions.

[0025] The moving frame of the flexible cutting end effector 2 is supported by the mounting base 20, which acts as a transitional receiving component for torque transmission and a mounting base that envelops and traction actuators; symmetrical shaft mounting holes are provided on both ends of the mounting base 20, such as... Figure 4 As shown, the rear root ends of the two sets of clamping plates 21 are hinged to the mounting base 20 by rotating pins; like Figure 3As shown, two telescopic cylinders 24 are inclinedly arranged in the assembly space reserved behind the mounting base 20 to drive the two sets of clamping plates 21 to open and close. The tailstock of each telescopic cylinder 24 is hinged to the mounting base 20, and the front end node of the piston rod of the telescopic cylinder 24 is hinged to the rear of the corresponding side clamping plate 21 through a metal connecting rod. When the control system 13 controls the electromagnetic reversing valve to change the air path, the piston rod of the telescopic cylinder 24 extends or retracts linearly, and pushes the two sets of clamping plates 21 to open or close around the hinge center on the mounting base 20 through the lever transmission of the lever arm. The three-dimensional shape of the clamping plate 21 is processed into a non-uniform thickness spatial curved surface component. The outer wall is convex outward, and the thickness of the front end of the clamping plate 21 decreases from back to front to form an inwardly constricted wedge shape. The inner wall is a concave surface with an inward concave arc. The robotic arm 11 completes the movement of the clamping plate 21 towards the wall. After the target fruit cluster approaches and before the flexible dial 22 begins its traction action, the robotic arm 11, with the open clamps 21, advances into the cluster of fruit. The wedge-shaped front end cuts into the gap between the closely fitting fruit, and the outwardly protruding arc-shaped outer wall acts as a barrier remover during the advancement process, pushing and dispersing surrounding non-target branches and flower buds to the outside, reducing mechanical damage to the fruit tree branches and leaves. When the target camellia fruit is completely within the space between the two sets of open clamps 21, the robotic arm 11 stops its forward movement, and the control system 13 sends a command to the electromagnetic reversing valve to activate the telescopic cylinder 24. The two sets of clamps 21 are driven by the cylinder 24 to close, and the concave surfaces on the inner side of the clamps 21 come together to form a semi-closed envelope cavity 210, which covers and confines the target camellia fruit inside the cavity, preventing the fruit from sliding sideways during subsequent operations.

[0026] The traction action relies on the spatial arrangement and frictional interaction between the micro servo motor 28 and the flexible dial 22. The micro servo motor 28 is fixed to the inner wall of the clamping plate 21 within the envelope cavity 210 by screws. The flange of the micro servo motor 28's housing is attached to the inner wall of the clamping plate 21, and its power output shaft points towards the interior space of the envelope cavity 210, connecting to the central axis of the cylindrical flexible dial 22. The rotational axis of the flexible dial 22 is perpendicular to the length extension direction of the clamping plate 21. This perpendicular arrangement causes frictional force to be generated along the length extension direction of the clamping plate 21 when the surface of the rotating cylindrical flexible dial 22 contacts the skin of the camellia fruit wrapped inside the cavity. The control system 13 pre-programs a pull-out resistance threshold. The parameters characterizing the safe stress limit of the mother branch of the camellia tree; after the target camellia fruit is locked in the envelope cavity 210 by the clamping plate 21, the control system 13 sends a counter-rotation command to two micro servo motors 28 through the drive circuit; the flexible dial wheel 22 on one side of the clamping plate 21 rotates clockwise, and the flexible dial wheel 22 on the other side of the clamping plate 21 rotates counterclockwise synchronously at the same speed; the outer cylindrical surface of the flexible dial wheel 22 generates friction between the camellia fruit skin and the continuous inward rotation action generates a continuous traction force on the camellia fruit in the middle of the wheel, which is opposite to the wedge front end and points towards the mounting base 20; under the action of this traction force, the curved fruit stalk hidden above the fruit is pulled outward, straightened and put into a taut state.

[0027] The device completes the target fruit harvesting cycle through control commands. During the continuous pulling period of the flexible pull wheel 22, the six-axis torque sensor 3 fixed behind the end effector 2 measures the longitudinal resistance reaction force on the end of the robotic arm 11 in real time, and converts the detected real-time tension data into digital communication signals and sends them to the control system 13. The microprocessor inside the control system 13 compares the received real-time tension data with the preset pull resistance threshold in the system. When the monitored real-time tension data does not reach the threshold, the control system 13 determines that the fruit stalk is within the connection range and has not broken, and the micro servo motor 28 continues to supply power and maintains the opposite rotation state. When the real-time tension data detected by the six-axis torque sensor 3 rises and is equal to or greater than the preset pull resistance threshold, the control system 13 triggers the switching mechanism and issues two commands to the actuator. The first command is sent to the micro servo motor 28 inside the clamping plate 21, cutting off the drive and controlling it to stop rotating. The dial 22 enters a stationary state, clamping the camellia fruit pulled downwards to its position limit, keeping the fruit stem taut and exposed. The second command is sent via the control bus to the concealed cutting component 23 hidden inside the front wall of the clamping plate 21. At this time, the taut fruit stem is restricted within the front area of ​​the clamping plate 21, and the control system 13 sends an extension command to the concealed cutting component 23 inside the front wall of the clamping plate 21. Upon receiving the trigger signal, the cutting component 23 activates the actuator, driving the concealed blade 230 to break through the front wall of the clamping plate 21, using the shearing force of the blade to cut the taut fruit stem laterally. After the cutting action is completed, the control system 13 sends a command to the telescopic cylinder 24 to drive the clamping plate 21 to open and release the fallen fruit. The robotic arm 11 resets and prepares to enter the next visual scanning and harvesting cycle. In this embodiment, the fruit is harvested through continuous actions of spatial mechanical closing, friction pulling, sensor data feedback comparison, and cutting under threshold judgment. Example

[0028] An adaptive harvesting device for camellia oleifera fruit based on visual positioning and flexible cutting includes a frame 10, a robotic arm 11, a visual perception module 12, and a control system 13. The robotic arm 11 is mounted on the frame 10, and the visual perception module 12 is mounted on the robotic arm 11. The robotic arm 11 and the visual perception module 12 are respectively communicatively connected to the control system 13. The device is characterized by further including a flexible cutting end effector 2, mounted on the end of the robotic arm 11, comprising a mounting base 20, two sets of clamping plates 21, a flexible dial 22, and a concealed cutting assembly 23. The two sets of clamping plates 21 are hinged... The two sets of clamping plates 21 are joined together on the mounting base 20 to form an enveloping cavity 210. The flexible dial 22 is rotatably connected to the inner side of the clamping plate 21. The concealed cutting assembly 23 is installed at the end of the clamping plate 21 away from the mounting base 20. The concealed cutting assembly 23 has a blade 230, which is located in the front wall of the clamping plate 21. A torque sensor 3 is connected between the robotic arm 11 and the flexible cutting end effector 2. The torque sensor 3 is communicatively connected to the control system 13, which has a preset pull-out resistance threshold. The control system 13 sends opposing rotation commands to the two sets of flexible dials 22. The torque sensor 3 sends the detected real-time tension data to the control system 13. When the control system 13 determines that the real-time tension data is not less than the pull-out resistance threshold, it sends a stop rotation command to the flexible dials 22 and an extension action command to the concealed cutting component 23. According to claim 1, a camellia fruit adaptive harvesting device based on visual positioning and flexible cutting is characterized in that the clamping plate 21 has a wire inlet groove 211 at the end away from the mounting base 20, and the concealed cutting... The cutting component 23 includes a reciprocating electromagnetic slider 231, which is fixed in the internal cavity of the clamping plate 21, and the blade 230 is fixed in the movable end 233 of the reciprocating electromagnetic slider 231; according to claim 5, the self-adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting is characterized in that the blade 230 is a V-shaped blade 230, which moves in a straight line under the drive of the reciprocating electromagnetic slider 231, and the movement trajectory of the blade 230 passes through the inlet groove 211 and is completely within the outer contour line of the clamping plate 21.

[0029] This embodiment of the device utilizes a concealed cutting component 23 with a specific spatial layout to adapt to the narrow space inside the tree canopy and the location of the fruit stalk. The system relies on a robotic arm 11, a vision perception module 12, and a control system 13 to construct a basic hardware control platform. The flexible cutting end effector 2 is designed to implement spatial interference isolation and a controlled physical cutting mechanism. The vision perception module 12 scans the target and guides the robotic arm 11 to transport the end effector 2 to the working position. Two sets of clamping plates 21 close and wrap the camellia fruit under the drive of an external pneumatic mechanism. A torque sensor 3 continuously collects the tensile force data generated by the pull action of the actuator along the length extension direction of the clamping plates 21, and compares this data with the preset pull resistance threshold in the control system 13. The numerical comparison is performed; the control system 13 coordinates the traction and pausing action of the flexible dial 22 and the ejection and cutting action of the concealed cutting component 23 based on the determination result of the pulling resistance threshold; the device adopts a mechanical shell with a concealed sealed design, which encapsulates the moving parts that generate physical shearing force in a closed internal space when not in operation; the physical guide structure of the clamp 21 body completes the directional transverse cut of the target fruit stalk within the action cycle, and relies on the physical barrier of the shell to avoid the blade from accidentally damaging the surrounding branches or immature fruits in the agricultural environment; the system's underlying algorithm fuses the spatial pose of the executing component with the force feedback signal of the sensor to ensure that the cutting command is triggered under the set physical boundary constraints.

[0030] The installation arrangement of the concealed cutting component 23 is combined with the front geometry of the clamping plate 21 and the internal solid space structure; the end of the clamping plate 21 away from the mounting base 20 is provided with a wire inlet groove 211 that penetrates the vertical thickness direction of the wall. like Figure 2 As shown, when the two sets of flexible dials 22 rotate in opposite directions, the camellia fruit (shown by the dotted line in the figure) is pulled towards the mounting base 20, causing the fruit stem to slide into the inlet groove at the front end of the clamp 21. The inlet groove 211 is a physical channel connecting the external environment and the internal mechanical cutting mechanism. like Figure 8As shown, the opening end of the feed groove 211 has an outward-expanding trumpet-shaped geometry facing the external branches. The sidewall of the groove gradually narrows towards the center of the clamping plate 21, forming a sloping guide area that smoothly transitions to a parallel groove bottom area of ​​fixed size. The surface of the groove sidewall is metal-hardened to reduce the coefficient of friction and improve wear resistance to cope with the physical friction generated when the fruit stalk slides in. The front end of the clamping plate 21 has an internal cavity machined around the solid area of ​​the feed groove 211. The internal cavity is a closed structure with a slit for the blade 230 to extend from it in the direction of the groove bottom of the feed groove 211. It is physically isolated from the external environment by the solid shell of the clamping plate 21. After receiving the opposite rotation command from the control system 13, the flexible dial 22 applies a holding force along the length extension direction of the clamping plate 21 to the camellia fruit inside the envelope cavity 210 based on the coefficient of friction of the surface material. Continuous frictional traction force; during the continuous application of mechanical traction force, the fruit stalk connecting the top of the camellia fruit to the branch is pulled outward and taut; under the guidance of spatial tension, the taut fruit stalk slides along the outwardly expanding inclined surface of the opening end of the inlet groove 211 into the internal space of the inlet groove 211 and abuts against the bottom of the groove; the width of the bottom of the inlet groove 211 is set to be slightly larger than the average outer diameter of a conventional camellia fruit stalk, and smaller than the cross-sectional size of the camellia fruit sphere and the surrounding robust mother branch; the device uses the physical tolerance limit of geometric dimensions to peel the target fruit stalk from the intersecting branches and constrain it to a fixed shearing position; the rigid solid sidewall of the inlet groove 211 provides a lateral support fulcrum for the taut fruit stalk, preventing the fruit stalk from physical yielding or lateral displacement when subjected to unilateral ejection shear force, ensuring that the mechanical energy of the subsequent shearing action acts on the fracture surface of the fruit stalk tissue.

[0031] A reciprocating electromagnetic slider 231 is fixedly installed in the internal cavity as the linear drive source for the concealed cutting assembly 23; such as Figure 5As shown, the main structure of the reciprocating electromagnetic slider 231 includes a stator assembly 232 composed of a fixed copper coil and a movable end 233 composed of a movable magnetic core. The copper coil of the stator assembly 232 is wound to obtain a specific ampere-turns, and is wrapped with thermally conductive potting compound. The metal shell structure of the clamping plate 21 serves as a heat dissipation base to conduct the heat generated during the electromagnetic conversion to the external environment to prevent the coil from overheating. The stator assembly 232 is anchored to the internal cavity metal base by means of weather-resistant structural adhesive or countersunk screws. On the plane, it ensures no relative displacement between the slider and the outer shell of the clamping plate 21 when subjected to recoil force; the movable end 233 of the slider is connected to the metal guide push rod 234, which slides along the linear guide rail structure preset on the bottom surface of the internal cavity to limit radial sway during the force process; the V-shaped blade 230 is made of martensitic stainless steel and has been quenched, and the tail base is fixed to the end face of the movable end 233 of the reciprocating electromagnetic slider 231 by a through pin; the working area of ​​the front end of the V-shaped blade 230 has two cutting edges that intersect to form an acute angle. The cutting edge can convert the pushing force into a composite shearing force with sliding cutting characteristics when cutting into the fruit stem fiber; the reciprocating electromagnetic slider 231 has a return spring 235 assembly integrated around the push rod 234 inside; when it does not receive an extension action command from the control system 13, the reciprocating electromagnetic slider 231 is in a power-off sleep state; the return spring 235 uses elastic deformation contraction force to pull the movable end 233 together with the V-shaped blade 230 fixed thereon into the depth of the internal cavity and keep it pressed, at this time the stator assembly 232 The moving end 233 and the return spring 235 are mutually attracted. The return spring 235 is in a compressed state. In the original working state, the V-shaped blade 230 is retracted and hidden in the front wall of the clamp 21. The blade does not occupy the open space of the inlet slot 211. When the device moves in three-dimensional space or performs the action of opening the clamp 21 to insert into the tree canopy, the outer contour of the clamp 21 with rounded corners contacts the branches and leaves of the fruit tree. The hidden blade is physically shielded by the outer shell of the clamp 21, avoiding unplanned cutting between the device and the fruit tree during movement and maintaining the harvesting environment.

[0032] The V-shaped blade 230's movement trajectory is mechanically constrained by the linear guide structure of the reciprocating electromagnetic slider 231, exhibiting a fixed cutting path. The control system 13 runs a continuous data comparison task, reading real-time tension data sent by the torque sensor 3 at a set sampling frequency. To prevent false triggering caused by data glitch due to external wind load or mechanical vibration, the control system 13 introduces the tension data of the continuous sampling period into a digital filter for smoothing. When the processed tension data along the length extension direction of the clamp 21 is determined to be not less than the preset pull-out resistance threshold, the system logic confirms that the fruit stalk is in the correct position. In the tensioned state, the control system 13 sends a stop rotation command to the servo motor 28 of the flexible dial 22 via the communication bus to execute an electromagnetic locking action. The electromagnetic brake inside the micro servo motor 28 locks the rotor, and the static friction force on the surface of the dial 22 maintains the current force tensor on the fruit stem. The power amplifier circuit of the control system 13 sends a voltage pulse signal to the reciprocating electromagnetic slider 231. After the coil is energized, a magnetic field is generated, which overcomes the physical resistance of the return spring 235 through electromagnetic repulsion, pushing the movable end 233 forward along the linear guide rail. The V-shaped blade 230 is in the reciprocating electromagnetic slider 231. 1. The extension stroke of the linear reciprocating motion driven by the slider 231; the motion trajectory passes laterally through the bottom area of ​​the inlet groove 211 at the front end of the clamping plate 21 in three-dimensional space; when the two inclined cutting edges of the V-shaped blade 230 pass through the inlet groove 211, they clamp the fruit stalk pre-locked at the bottom of the groove inside the gradually narrowing V-shaped angle; as the push rod 234 of the movable end 233 moves linearly forward, the angle space contracts, and the lateral shear stress of the double blades cuts the fiber structure of the fruit stalk; the farthest physical endpoint of the movement trajectory of the blade 230 is determined by the mechanically permissible stroke of the movable end 233 of the electromagnetic slider 231; the maximum stroke is mechanically limited. The positioning structure is designed so that the tip of the V-shaped blade 230 can cross the opposite edge of the inlet groove 211 to complete the cutting action without exceeding the geometric boundary of the outer surface of the clamping plate 21 on that side; the limiting design ensures that the dynamic movement trajectory of the blade 230 is within the outer contour line of the clamping plate 21; after the pulse drive signal is powered off according to the timer end command, the magnetic flux inside the electromagnetic slider 231 collapses and loses the magnetic field thrust, and the return spring 235, which is in a stretched state, releases the deformation energy, pulling the V-shaped blade 230 back to the initial cavity concealed position along the linear guide path, completing the cutting cycle, and waiting for the trigger command.

[0033] The device utilizes a force parameter threshold trigger combined with concealed short-range physical cutting to complete the target fruit picking action. After the control system 13 is activated, the robotic arm 11 transports the flexible cutting end effector 2 to the working position through joint pose transformation. The two sets of clamps 21 close together under the action of the pneumatic circuit to form an envelope cavity 210 to wrap the camellia fruit. The micro servo motor 28 drives the flexible dial 22 to rotate in opposite directions to perform friction pulling operation on the fruit peel. The fruit moves along the length extension direction of the clamp 21 under the surface traction force, and the top fruit stem slides into and gets stuck in the inlet groove 211 of the front end of the clamp 21. The six-axis torque sensor 3 installed in series continuously monitors the pulling action and transmits the resistance reaction force to the mounting base 20. The pulling force data increases with the tightness of the fruit stem. When it reaches the pulling resistance threshold pre-written in the control system 13, the system cuts. The flexible dial 22 is stopped by the motor drive source; the reciprocating electromagnetic slider 231 mechanism in the closed cavity 212 inside the clamping plate 21 is activated, and the electromagnetic slider 231 drives the V-shaped blade 230 to pop out from the gap inside the wall; the movement trajectory cuts laterally across the internal space of the inlet groove 211 to cut off the fruit stem, and the blade does not leave the physical protection range constructed by the external contour of the clamping plate 21 during the extension and retraction cycle; after the connection is cut off, the V-shaped blade 230 is retracted and hidden under the pull of the internal return spring 235, and the flexible cutting end actuator 2 opens the clamping plates 21 on both sides to release the harvested camellia fruit; the system scheme realizes the physical shearing of the target and the physical isolation of the surrounding environment in the agricultural canopy space through the boundary restriction of the component's external structure and the critical triggering mechanism of the force sensor data, ensuring the continuity of harvesting operations and the stability of equipment operation. Example

[0034] An adaptive harvesting device for camellia oleifera fruit based on visual positioning and flexible cutting includes a frame 10, a robotic arm 11, a visual perception module 12, and a control system 13. The robotic arm 11 is mounted on the frame 10, and the visual perception module 12 is mounted on the robotic arm 11. The robotic arm 11 and the visual perception module 12 are communicatively connected to the control system 13. A flexible cutting end effector 2 is mounted on the end of the robotic arm 11 and includes a mounting base 20, two sets of clamping plates 21, flexible dials 22, and concealed cutting components 23. The clamping plate 21 is hinged to the mounting base 20. Two sets of clamping plates 21 close together to form an enveloping cavity 210. The flexible dial 22 is rotatably connected to the inner side of the clamping plate 21. The concealed cutting assembly 23 is installed at the end of the clamping plate 21 away from the mounting base 20. The concealed cutting assembly 23 has a blade 230, which is located within the front wall of the clamping plate 21. A torque sensor 3 is connected between the robotic arm 11 and the flexible cutting end effector 2, and the torque sensor 3 is communicatively connected to the control system 13. Next, the control system 13 has a preset pull-out resistance threshold. The control system 13 sends opposite rotation commands to the two sets of flexible dials 22. The torque sensor 3 sends the detected real-time pull data to the control system 13. When the control system 13 compares and determines that the real-time pull data is not less than the pull-out resistance threshold, it sends a stop rotation command to the flexible dials 22 and an extension action command to the concealed cutting component 23. The flexible dials 22 include an internal rigid support shaft 220 and an outer part wrapped around the internal rigid support shaft 220. The system comprises an elastic buffer layer 221 and an outermost silicone skin 222. The elastic buffer layer 221 includes multiple radially distributed compression springs 223. The outer surface of the silicone skin 222 is evenly distributed with granular soft rubber protrusions 224. The control system 13 has a preset resistance change threshold. When the real-time pulling force data does not reach the pulling resistance threshold and the resistance decrease is greater than the resistance change threshold within a set time, the control system 13 sends a stop rotation command to the flexible dial 22 and a containment and retention command to the concealed cutting assembly 23.

[0035] This embodiment of the device employs a mechanically compliant mechanism and a multi-dimensional discrimination algorithm to address the harvesting environment of varying camellia fruit size and inconsistent stem connection strength under natural growth conditions. The system utilizes a frame 10 to mount a multi-degree-of-freedom robotic arm 11 to perform spatial pose transformations. Each joint of the robotic arm 11 is equipped with a servo motor and a harmonic reducer, and an approximation trajectory is planned in three-dimensional space based on an inverse kinematics algorithm. The visual perception module 12 acquires three-dimensional point clouds and depth images of the canopy layer, uses a neural network algorithm to segment the fruit outline, and calculates the spatial coordinates. The control system 13 receives coordinate commands via an industrial Ethernet bus, driving the robotic arm 11 to deliver the flexible cutting end effector 2 to the working target point. Two sets of clamping plates 21, driven by a rear-mounted cylinder mechanism, rotate around the hinge axis. The device closes to form a semi-closed envelope cavity 210; a torque sensor 3 connected in series between the flange 30 of the robotic arm 11 and the mounting base 20 of the end effector 2 collects tensile force data along the length extension direction of the clamping plate 21; the device introduces a multi-layer composite buffer structure at the contact medium level of the flexible cutting end effector 2, and uses the mechanical properties of the material to absorb the mechanical interference stress caused by the fruit size tolerance; the control system 13 builds a resistance mutation state machine model based on the time window sequence at the bottom layer, upgrades the ultimate load triggering mechanism to a dual threshold judgment logic that includes peeling feature recognition, adds verification of the target connection state before performing the cutting action, avoids mechanical damage under unexpected working conditions, and ensures the continuity of equipment operation under agricultural working conditions.

[0036] The flexible dial 22 internally employs a three-layer composite shaft system architecture that separates mechanical transmission and strain absorption, such as... Figure 6 and Figure 7As shown, the innermost part is the internal rigid support shaft 220, which bears the main transmission torque. The internal rigid support shaft 220 is machined from alloy steel, and its shaft end is rigidly anchored to the power output shaft of the micro servo motor 28 inside the clamping plate 21 via a flat key or spline, ensuring that the motor output torque is converted into the rotational kinetic energy of the main shaft of the dial wheel 22. Micro deep groove ball bearings are configured at both ends of the shaft, supported in bearing seat holes inside the clamping plate 21, reducing radial runout during rotation. The component surrounding the internal rigid support shaft 220 is an elastic buffer layer 221 that undergoes dimensional deformation. The elastic buffer layer 221 is composed of a matrix of multiple radially distributed compression springs 223. The inner end bases of the multiple compression springs 223 are welded at equal intervals or fastened to the outer cylindrical surface of the internal rigid support shaft 220 via threads. The free end extends outward along the radius of the cross section; the compression springs 223 within the same cross section are arranged in a ring array, forming multiple sets of parallel spring support surfaces axially, constructing an isotropic radial yield buffer space; the outermost structure is a silicone skin 222 covering the outer edge of the compression spring 223; the silicone skin 222 is injection molded from food-grade polysiloxane elastomer material, forming a cylindrical closed outer contour; the inner wall of the silicone skin 222 forms a sliding or semi-fixed connection with the outer end of the compression spring 223, allowing the outer skin to not tear when the spring undergoes compression displacement; the outer surface of the silicone skin 222 is evenly distributed with fine granular soft rubber protrusions 224; the granular soft rubber protrusions 224 break the continuous contact model of the smooth cylindrical surface at the microscopic physical level, forming a lattice-like friction node network.

[0037] In the physical interaction grasping stage, the multi-layered composite flexible structure has size self-adaptation and damage prevention functions; the micro servo motor 28 drives the flexible dial wheel 22 to rotate in opposite directions, and the clamping plate 21 closes under the action of the pneumatic circuit. The target camellia fruit in the envelope cavity 210 comes into contact with the surface of the rotating flexible dial wheel 22 by compression; the camellia fruit has an irregular spherical shape and a large equatorial diameter tolerance. When encountering a large fruit, the silicone skin 222 is compressed and undergoes radial displacement inward; the radially distributed compression springs 223 generate compression geometric deformation at the force point, and convert the compression displacement into elastic force according to Hooke's law, absorbing the volume surplus generated by the enveloping circle of the dial wheel 22 caused by the large fruit intruding into it, and avoiding the internal rigid support shaft 220 from applying destructive stress to the fruit skin; when encountering a small fruit... When the fruit is sized, the compression spring 223 undergoes slight compression deformation, using the material's restoring force to push the silicone skin 222 tightly against the fruit surface, maintaining positive pressure. The granular soft rubber protrusions 224 on the outer surface of the silicone skin 222 undergo misalignment deformation upon contact with the fruit peel, embedding into the texture and pore gaps on the surface of the camellia fruit, increasing the tangential static friction coefficient between the media. The opposing rotational motion converts the torque into a traction force along the length of the clamping plate 21, pulling the fruit to slide and guiding the fruit stem into the front inlet groove 211. The dynamic support of the buffer layer spring allows the silicone skin 222 to conform to the outer contour of the fruit in a wrapping posture, expanding the theoretical rigid line contact into a flexible surface contact, reducing the pressure per unit area, and maintaining the integrity of the fruit peel tissue under the condition of applying a pulling force to straighten the fruit stem.

[0038] The control system's underlying algorithm incorporates a dual-parameter judgment model based on time-series data differentiation to dynamically identify the fruit stalk connection characteristics under tension. Figure 9 As shown, the specific execution flow of this control logic is as follows: First, the system executes step S101, where the control system 13 issues an action command to drive the two sets of clamping plates 21 to close and form an envelope cavity 210; then, step S102 is executed, where a command is sent to the micro servo motor 28 located inside the clamping plate 21 to drive the flexible dial wheel 22 to perform opposite rotation actions; during the traction process, step S103 is entered, where the torque sensor 3 collects the tension data along the extension direction of the clamping plate in real time at a set frequency and feeds it back to the control system 13.

[0039] Subsequently, the system enters the first-level judgment branch S104, which compares the real-time tension data with the preset pull resistance threshold. If the judgment result is "yes", the system proceeds to step S105, whereby the system confirms that the fruit stem is in an extremely tense state, immediately sends a stop rotation command to the flexible dial 22 and an extension action command to the concealed cutting component 23, driving the blade 230 to perform the cutting action.

[0040] If the result of step S104 is "No", then proceed to the second-level decision branch S106, calculate the amount of resistance decrease within a set time and compare it with the preset resistance change threshold. If the result is "Yes", then proceed to step S107, the system confirms that the fruit stem has broken off naturally, then sends a stop rotation command to the flexible dial 22 to lock and maintain pressure, and sends a containment and retention command to the concealed cutting component 23 to keep the blade 230 inside the front wall of the clamping plate 21 without cutting.

[0041] If the result of step S106 is still "no", then proceed to step S108. The system confirms that the fruit stem is not broken and the force has not reached the limit. Maintain the opposite rotation traction state of the flexible dial 22 and guide the logic back to step S103 to continue monitoring.

[0042] During the initialization phase, the system writes the pull-out resistance threshold representing the maximum physical breaking load and the resistance mutation threshold representing discontinuous fracture characteristics into the memory; the torque sensor 3 transmits the continuously collected tensile data to the main control chip of the control system 13 during the working cycle; the collected signal is filtered by a digital low-pass filter to remove mechanical vibration noise; in some mature camellia fruits or fruits affected by pests and diseases, the abscission layer cells between the fruit stalk and the mother branch degrade, weakening the connection strength; when the micro servo motor 28 drives the flexible wheel 22 to pull down such fruits, the real-time tensile data recorded by the system shows an upward trend, and the fruit stalk fiber breaks on its own under the action of tensile force before touching the set pull-out resistance threshold limit; at the moment the physical connection of the fruit stalk is broken, the resistance reaction force applied to the flexible cutting end actuator 2 is unloaded; the control system 1 3. The built-in differential algorithm module calculates the rate of change of tensile data within adjacent sampling time windows; the system detects that the current real-time tensile data has not reached the pull-out resistance threshold, and the tensile value drops within the set time window. When the calculated resistance decrease is greater than the system's preset resistance change threshold, the logic operation unit confirms that the fruit is free from the constraints of the mother tree; the control system 13 issues an execution command based on the judgment result, sends a stop rotation command to the micro servo motor 28 inside the clamping plate 21 to cut off the power output, the flexible dial 22 uses static friction to clamp the fallen fruit, and sends a containment and retention command to the front concealed cutting component 23 to maintain the power-off dormant state of the reciprocating electromagnetic slider 231; the command sequence intervenes to block the ejection stroke of the blade 230, so that the blade 230 is retained inside the front wall of the clamping plate 21.

[0043] The work cycle relies on adaptive flexible buffering and multi-dimensional state detection algorithms to achieve the equipment's operational capabilities on fruit trees with different growth characteristics; the robotic arm 11 responds to visual positioning signals to guide the flexible cutting end effector 2 to intervene in the canopy, and the clamping plate 21 retracts to form an operating chamber; the flexible dial wheel 22 with a built-in spring structure is compatible with various irregularly shaped fruits, and the granular skin applies stable frictional traction to stretch the fruit stalk; the torque sensor 3 collects the axial load and feeds it back to the control platform, and the system runs a dual-thread algorithm of peak comparison and slope detection in parallel; when the fruit stalk is tough, the real-time tensile data rises to the pull-out resistance threshold, the system commands the dial wheel 22 to stop and triggers the concealed cutting component 23 to extend the blade 230 to cut the fruit stalk; facing the fragile fruit stalk connection... In cases of easy detachment, the system detects mechanical unloading characteristics that meet the resistance mutation threshold before reaching the resistance peak, stops the dial drive to prevent the silicone skin 222 from continuously idling and rubbing against the disconnected fruit surface, blocks the pulse generated by the concealed cutting component 23 to keep it in a receiving posture, saves energy consumption of the electromagnetic mechanism and reduces blade wear; after the peeling action is completed, the system drives the telescopic cylinder 24 to open the clamp 21 and release the detached fruit to the collection net 15; the embodiment integrates material physical adaptation and software logic adaptation to reduce the error rate of the equipment when facing natural individual differences, completes response matching and action adjustment for fruit characteristics in the forest environment, and ensures the lifespan of the actuator.

[0044] In the description of this specification, the references to terms such as "an embodiment," "example," and "specific example" indicate that a specific feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, and characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The above description is merely an example and illustration of the concept of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined in the claims, they should all fall within the protection scope of the present invention.

Claims

1. An adaptive harvesting device (1) for camellia fruit based on visual positioning and flexible cutting, comprising a frame (10), a robotic arm (11), a visual perception module (12), and a control system (13), wherein the robotic arm (11) is mounted on the frame (10), the visual perception module (12) is mounted on the robotic arm (11), and the robotic arm (11) and the visual perception module (12) are respectively communicatively connected to the control system (13); characterized in that, Also includes: The flexible cutting end effector (2) is installed at the end of the robotic arm (11) and includes a mounting base (20), two sets of clamping plates (21), a flexible dial (22), and a concealed cutting assembly (23). The two sets of clamping plates (21) are hinged to the mounting base (20) and the two sets of clamping plates (21) are closed to form an envelope cavity (210). The flexible dial (22) is rotatably connected to the inner side of the clamping plate (21). The concealed cutting assembly (23) is installed at the end of the clamping plate (21) away from the mounting base (20). The concealed cutting assembly (23) has a blade (230) which is located in the front wall of the clamping plate (21). A torque sensor (3) is connected between the robotic arm (11) and the flexible cutting end effector (2). The torque sensor (3) is communicatively connected to the control system (13). The control system (13) has a preset pull resistance threshold. The control system (13) sends a counter-rotation command to the two sets of flexible dials (22). The torque sensor (3) sends the detected real-time tension data to the control system (13). When the control system (13) determines that the real-time tension data is not less than the pull-out resistance threshold, it sends a stop rotation command to the flexible dials (22) and sends an extension action command to the concealed cutting assembly (23).

2. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 1 (1), characterized in that, The rear parts of the two sets of clamps (21) are respectively connected to the power output end of the telescopic cylinder (24). The outer side wall of the clamp (21) is an outwardly convex arc surface, and the end of the clamp (21) away from the mounting seat (20) is a wedge shape that converges inward.

3. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 2 (1), characterized in that, The flexible dial (22) is cylindrical, and the rotation center axis of the flexible dial (22) is arranged perpendicular to the length extension direction of the clamp (21).

4. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 3 (1), characterized in that, A micro servo motor (28) is fixed to the inner wall of the clamp (21), and the output shaft of the micro servo motor (28) is connected to the central shaft of the flexible dial (22).

5. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 1 (1), characterized in that, The clamping plate (21) has a wire inlet groove (211) at one end away from the mounting base (20). The concealed cutting assembly (23) includes a reciprocating electromagnetic slider (231). The reciprocating electromagnetic slider (231) is fixed in the internal cavity (212) of the clamping plate (21). The blade (230) is fixed at the movable end (233) of the reciprocating electromagnetic slider (231).

6. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 5 (1), characterized in that, The blade (230) is a V-shaped blade (230). The blade (230) moves in a straight line under the drive of the reciprocating electromagnetic slider (231). The movement trajectory of the blade (230) passes through the inlet groove (211) and is completely within the outer contour line of the clamp (21).

7. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 1 (1), characterized in that, The flexible dial (22) includes an inner rigid support shaft (220), an elastic buffer layer (221) wrapped around the inner rigid support shaft (220), and an outermost silicone skin (222).

8. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 7 (1), characterized in that, The elastic buffer layer (221) includes multiple radially distributed compression springs (223), and the outer surface of the silicone skin (222) is evenly distributed with granular soft rubber protrusions (224).

9. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 1 (1), characterized in that, The torque sensor (3) is a six-axis torque sensor (3). The upper end face of the six-axis torque sensor (3) is fixed to the end flange (30) of the robotic arm (11) by bolts, and the lower end face of the six-axis torque sensor (3) is fixedly connected to the mounting base (20).

10. The adaptive harvesting device for camellia fruit based on visual positioning and flexible cutting according to claim 1, characterized in that, The control system (13) has a preset resistance change threshold. When the real-time pulling force data does not reach the pulling resistance threshold and the resistance decrease is greater than the resistance change threshold within a set time, the control system (13) sends a stop rotation command to the flexible dial (22) and a containment and retention command to the concealed cutting component (23).

Images