A scalable four-arm fruit tree picking robot

Abstract

The application discloses a scalable four-mechanical-arm fruit tree picking robot, which comprises a chassis, a controller, a mechanical arm and an end effector, and further comprises a telescopic frame, a visual module and an electric control cabinet; the chassis is a tracked chassis, the electric control cabinet is fixed on a vehicle-mounted welding plate on the top of the tracked chassis; the visual module is arranged on the vehicle-mounted welding plate and the end effector and used for sensing the environment and identifying the pose of fruits; the telescopic mechanism is fixed on the vehicle-mounted welding plate and connected with the mechanical arm at the tail end, and is used for controlling the multi-degree-of-freedom movement of the mechanical arm; the end effector is arranged at the tail end of the mechanical arm; and the controller is integrated in the electric control cabinet. The application can expand the picking range through the combination of a large arm and a small arm and a double-link telescopic frame, can realize lossless picking through a macro positioning and accurate identification of a hierarchical visual system and a shearing and clamping integrated end effector, can concentrate the collection of fruits, and can significantly improve picking efficiency, picking rate and fruit commodity rate.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment technology, and in particular to a retractable four-arm fruit tree harvesting robot. Background Technology

[0002] Citrus is one of my country's important economic crops, with a wide planting area. Yichang is a major citrus producing area in my country, and the terraced fields of the Three Gorges Reservoir area are the core planting area. Orchards are mainly established on mountain slopes with a gradient of 10-20°, with a layered layout along contour lines of 0.8-2.0m, extending around the slope to form horizontal terraced belts that surround the mountain. This provides good conditions for mechanized operations and is conducive to soil and water conservation. Citrus generally adopts a dwarfing, high-density planting and natural open-center standardized cultivation model. According to local and industry simplified orchard establishment technical specifications: the planting height is 40-50cm, 3-4 main branches are selected, the branching angle is 30°-50°, and they are evenly distributed radially; the height of mature trees is controlled at 1.8-2.5m, the crown width is 2.0-3.0m, the crown is open, the main trunk is short, and the ventilation and light penetration are good; the row spacing is 3.0-3.5m and the plant spacing is 1.0-1.5m, with wide rows and narrow plants, dense planting layout, which is suitable for mechanized operations. Citrus harvesting is a crucial part of orchard management, characterized by high labor intensity, strong seasonality, and stringent requirements for fruit quality. Due to the limitations of terraced terrain, fruit trees are often planted along the edges of the terraces, limiting robot operation to one side and further increasing the difficulty. With rising agricultural labor costs and an aging population, traditional manual harvesting methods are no longer sufficient to meet the demands of modern agricultural production. Therefore, developing efficient, precise, adaptable harvesting robots suitable for terraced terrain has become a hot topic and important development direction in modern agricultural technology research.

[0003] Existing harvesting robots mainly face the following challenges:

[0004] 1. Because fruit trees are planted on the edge of the terraced fields in the terraced cultivation model, the robot can only approach the fruit trees from one side to work. The existing single-arm structure has limited working space and cannot achieve full coverage harvesting of the entire fruit tree from one side, resulting in low harvesting efficiency and high omission rate.

[0005] 2. Terraced citrus orchards are mostly on slopes of 10°-20° with complex terrain. Most harvesting equipment relies on flat ground and is difficult to park and operate stably on terraces, making it unsuitable for the complex outdoor working environment of terraced orchards.

[0006] Citrus fruits are economic crops with strict requirements for appearance and quality. The main varieties planted in terraced orchards, such as navel oranges and ponkan oranges, have delicate peels and the fruit stems are tightly attached to the peel. When using traditional picking methods such as pulling and twisting, as well as the rigid actuators of existing picking robots, the large pulling force can easily cause the fruit stems and part of the peel to fall off, damaging the integrity of the fruit and thus affecting the quality and commercial value of the citrus fruits. Summary of the Invention

[0007] To address the shortcomings of the existing technologies, the technical problem to be solved by this invention is: to propose a retractable four-arm fruit tree harvesting robot, which expands the harvesting range through the combination of the large and small arms and the double-link telescopic frame, uses a graded vision system for macroscopic positioning and accurate identification, and an integrated shearing and clamping end effector to achieve non-destructive harvesting, and collects fruits in a concentrated manner, thereby significantly improving harvesting efficiency, harvesting rate and fruit marketability.

[0008] One technical solution adopted in this invention is: a retractable four-arm fruit tree harvesting robot, including a chassis, a controller, robotic arms and an end effector, and also including: a telescopic frame, a vision module and an electrical control cabinet;

[0009] The chassis is a tracked chassis, and the electrical control cabinet is fixed on the vehicle-mounted welding plate on the top of the tracked chassis;

[0010] The vision module is mounted on the vehicle-mounted welding plate and the end effector, and is used to perceive the environment and identify the fruit's pose.

[0011] The telescopic mechanism is fixed on the vehicle-mounted welding plate, and a robotic arm is connected to its end. The telescopic mechanism is used to control the multi-degree-of-freedom movement of the robotic arm.

[0012] The end effector is disposed at the end of the robotic arm;

[0013] The controller is integrated in the electrical control cabinet and is used to receive visual signals from the vision module and send control signals to the tracked chassis, telescopic frame, robotic arm and end effector.

[0014] Furthermore, the robotic arm includes a first robotic arm and a second robotic arm, the first robotic arm being directly mounted on the vehicle-mounted welding plate, and the second robotic arm being mounted at the end of the telescopic mechanism.

[0015] Furthermore, the first robotic arms are arranged in pairs on the same side of the vehicle-mounted welding plate, and there is at least one pair; the telescopic frame is arranged in pairs on the outside of the location of the first robotic arms.

[0016] Furthermore, the working range of the second robotic arm driven by the telescopic frame is greater than that of the first robotic arm, enabling it to form an encircling harvesting pattern with the first robotic arm on the same fruit tree during harvesting.

[0017] Furthermore, the vision module includes a first depth camera and a second depth camera, the first depth camera being fixed to the vehicle-mounted welding plate, and the second depth camera being fixed to each of the end effectors.

[0018] Furthermore, the electrical control cabinet includes an electrical control cabinet shell and a heat dissipation system, the heat dissipation system including at least one fan; the electrical control cabinet shell is fixedly installed on the electrical control cabinet mounting plate by bolts, and the fan is fixedly installed on one side wall of the electrical control cabinet shell to realize air convection heat dissipation inside the cabinet; a middle door and two side doors are opened on one side wall of the electrical control cabinet shell; the interior of the electrical control cabinet shell is divided into upper and lower layers by a partition.

[0019] Furthermore, the controller includes a touchscreen display, an industrial computer, motor drivers, and AGV electrical control components; the touchscreen display is embedded in the middle door; the upper layer of the partition is provided with several motor drivers, each motor driver corresponding to control one of the robotic arms; the industrial computer is fixed in the middle of the lower layer of the partition; the AGV electrical control components are fixed on both sides of the lower layer of the partition, used to realize centralized control of robot movement, perception, and harvesting operations.

[0020] Furthermore, the telescopic frame includes a telescopic frame base, a rotary motor, a boom, an electric push rod, a boom connecting rod, a rotary joint, a forearm, a triangular block, a forearm connecting rod, and a flange; the telescopic frame base is fixed to the vehicle-mounted welding plate; the rotary motor is installed inside the telescopic frame base; the boom is fixedly connected to the output shaft of the rotary motor; one end of the boom connecting rod is hinged to the middle of the boom, and the other end is hinged to the push rod end of the electric push rod; the cylinder end of the electric push rod is hinged to the telescopic frame base; the first corner of the triangular block is hinged to the top of the boom, the second corner is hinged to one end of the forearm connecting rod, and the third corner is hinged to one end of the forearm; the other end of the forearm connecting rod is hinged to the upper part of the boom; the rotary joint is fixedly installed on the other end of the forearm; the flange is fixedly installed on the output shaft of the rotary joint.

[0021] Furthermore, the end effector includes a camera mounting plate, scissors, a scissor drive motor, a scissor frame, a four-finger gripper, a gripper motor, and an end effector flange. The end effector flange is fixedly connected to the end flange of the robotic arm, and the scissor frame is fixedly mounted on the upper end of the end effector flange. The vision module is fixedly mounted on the top of the scissor frame via the camera mounting plate. The scissor drive motor is fixedly mounted on the upper part of the scissor frame, and its output shaft is coaxially connected to the drive shaft of the scissors. The four-finger gripper is fixedly mounted on the lower part of the scissor frame. The gripper motor is fixedly mounted inside the end effector flange, and its output shaft is connected to the drive mechanism of the four-finger gripper.

[0022] Furthermore, it also includes a fruit frame, which comprises a flexible support structure, a fruit frame, and a fruit frame body; the fruit frame body is fixedly installed on the vehicle-mounted welding plate by bolts, and the fruit frame can be detachably placed inside the fruit frame body; multiple sets of the flexible support structures are evenly distributed in a matrix on the inner bottom surface of the fruit frame, and the flexible support structures are made of silicone material.

[0023] The retractable four-arm fruit-picking robot of the present invention has at least the following beneficial effects:

[0024] 1. The use of a tracked chassis significantly improves the robot's passability and driving stability in complex terrains such as hills and mud, preventing slippage and instability, and providing a reliable platform for harvesting operations.

[0025] 2. The telescopic frame expands the working space of the robotic arm without increasing the overall size of the vehicle. It can extend to the suspended side of the fruit tree, enabling multi-arm collaborative harvesting and improving canopy coverage and harvesting efficiency.

[0026] 3. Combining different types of robotic arms, arranged vertically or horizontally, can form multiple operational configurations, flexibly switching harvesting modes to achieve full coverage of a single tree or simultaneous harvesting on both sides, thereby improving the parallelism and adaptability of operations.

[0027] 4. The servo motor drives the front-end camera to rotate to expand the scanning range, and the end effector combines flexible clamping and shearing to achieve non-destructive harvesting, ensuring the integrity of the fruit's appearance and the quality of the product.

[0028] 5. The fruit frame has a built-in flexible shock absorption structure, which stabilizes the fruit during storage and transportation after harvesting, reduces collision damage, and improves the fruit integrity rate and marketability.

[0029] 6. The control systems of the robotic arm, chassis, etc. are integrated into a unified electrical control cabinet, equipped with a touch interface, which facilitates centralized management and parameter adjustment, improves the reliability and maintenance convenience of the whole machine, and is suitable for long-term continuous operation. Attached Figure Description

[0030] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0031] Figure 1 This is a schematic diagram of the overall structure of the retractable four-arm fruit tree harvesting robot of the present invention.

[0032] Figure 2 This is a schematic diagram of a two-sided harvesting structure.

[0033] Figure 3 This is a structural schematic diagram of the telescopic frame.

[0034] Figure 4 This is a schematic diagram of the end effector.

[0035] Figure 5 This is a schematic diagram of the electrical control cabinet.

[0036] Figure 6 This is a schematic diagram of the internal structure of the electrical control cabinet.

[0037] Figure 7 This is a schematic diagram of the tracked chassis and the on-board welded plate structure.

[0038] Figure 8 This is a schematic diagram of the fruit frame structure.

[0039] Explanation of reference numerals in the attached figures:

[0040] 1- Tracked chassis, 2- Electrical control cabinet, 3- Telescopic frame, 4- End effector, 5- First robotic arm, 6- Second robotic arm, 7- Fruit frame, 8- Vehicle-mounted welding plate, 101- Battery compartment, 102- Load-bearing wheel, 103- Protective plate, 104- Track roller, 105- Drive wheel, 201- Electrical control cabinet shell, 202- Fan, 203- Touchscreen display, 204- Intermediate door, 205- Electrical control cabinet door, 206- Partition, 207- Industrial computer, 208- AGV electrical control components, 209- Motor driver, 301- Telescopic frame base, 302- Rotary motor, 303- Boom, 304- Electric push rod, 305- Boom connecting rod, 306- Rotary joint 307-Forearm, 308-Triangular block, 309-Forearm link, 310-Flange, 401-Second depth camera, 402-Camera mounting plate, 403-Scissors, 404-Scissors drive motor, 405-Scissors frame, 406-Four-finger gripper, 407-Gripper motor, 408-End effector flange, 701-Flexible support structure, 702-Fruit frame, 703-Fruit frame body, 801-Electrical control cabinet mounting plate, 802-Car frame, 803-Extended robotic arm mounting plate, 804-Fruit frame mounting plate, 805-First depth camera, 806-Servo motor, 807-Camera mount, 808-LiDAR, 809-Radar mount, 810-RTK. Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] Please see Figure 1 and Figure 2 This is a schematic diagram of the overall structure of the retractable four-arm fruit-picking robot of the present invention. It includes a tracked chassis 1, a telescopic frame 3, robotic arms, an end effector 4, and an electrical control cabinet 2.

[0043] Please see Figure 3The retractable four-arm fruit-picking robot includes a tracked chassis 1, an electrical control cabinet 2, a telescopic frame 3, two sets of robotic arms, an end effector 4, a fruit frame 7, and a vehicle-mounted welding plate 8. The robotic arms include a first robotic arm 5 and a second robotic arm 6. A vehicle-mounted welding plate 8 is fixedly installed on the top surface of the tracked chassis 1. The electrical control cabinet 2 is fixedly installed on the electrical control cabinet fixing plate 801 in the middle of the vehicle-mounted welding plate 8 by bolts. Two telescopic frames 3 are fixedly installed on the vehicle-mounted welding plates 8 in the middle of the front and rear of the tracked chassis 1 by bolts. A second robotic arm 6 is fixedly installed on the end flange 310 of each telescopic frame 3. The end of each robotic arm is equipped with an end effector 4 to achieve precise clamping of citrus fruits and cutting of fruit stems. The fruit frame 7 is fixedly installed on the fruit frame fixing plate 804 at the front of the vehicle-mounted welding plate 8 by bolts to receive the harvested citrus fruits. The global camera 805, lidar 808, and RTK 810 are fixedly installed at the front end of the vehicle-mounted welding plate 8 for orchard environment perception.

[0044] Please see Figure 7 The tracked chassis 1 includes a frame 802, a drive unit, and a walking unit. The frame 802 is an integrally welded load-bearing structure. The drive unit includes a battery and a motor driver 209 installed in the battery compartment 101 in the middle of the chassis. The walking unit includes two side tracks, drive wheels 105 that drive the tracks, load-bearing wheels 102, track support rollers 104, and protective plates 103. The protective plates 103 are bolted to both sides of the frame 802, covering the area above the tracks. The drive wheels 105 are limited and supported at the rear end of the frame 802 by bearing seats. The motor driver 209 drives the drive wheels 105 to rotate, thereby driving the tracks. Multiple sets of load-bearing wheels 102 are evenly distributed at the bottom of the frame 802, and the track support rollers 104 are installed on the upper part of the frame 802, jointly supporting the tracks and ensuring track tension, enabling the robot to travel stably on hilly and terraced terrain.

[0045] The vehicle-mounted welding plate 8 includes an electrical control cabinet mounting plate 801, a frame 802, an extended robotic arm mounting plate 803, and a fruit basket mounting plate 804. The electrical control cabinet mounting plate 801 is welded to the top center of the frame 802. Four extended robotic arm mounting plates 803 are welded to the four corners of the frame 802 and extend outwards. The fruit basket mounting plate 804 is welded to the top front of the frame 802. A global camera 805 is bolted to the output shaft of a servo motor 806. The servo motor 806 is fixed to the top of a camera mount 807, which is vertically welded to the center front of the frame 802. A lidar 808 is bolted to the top of a radar mount 809, which is vertically welded to the left front of the frame 802. Two RTKs 810 are bolted to both sides of the lidar 808 to provide high-precision positioning for the robot.

[0046] Please see Figure 5and Figure 6 The electrical control cabinet 2 includes an outer casing 201, a heat dissipation system, and an internal control system. The heat dissipation system includes two fans 202; the internal control system includes a touchscreen display 203, an industrial computer 207, motor drivers 209, and AGV electrical control components 209. The outer casing 201 is bolted to the electrical control cabinet mounting plate 801. The fans 202 are fixedly mounted on the left side wall of the outer casing 201 to achieve air convection cooling inside the cabinet. The front of the outer casing 201 has a middle door 204 and two side doors 205. The touchscreen display 203 is embedded in the middle door 204. The interior of the outer casing 201 is divided into upper and lower layers by a partition 206. The upper layer has four sets of motor drivers 209 symmetrically installed, each corresponding to one of the four robotic arms. The lower layer has an industrial computer 207 fixedly installed in the middle, and AGV electrical control components 208 fixedly installed on both sides of the lower layer to achieve centralized control of robot movement, perception, and harvesting operations.

[0047] The aforementioned touchscreen display 203, industrial computer 207, motor driver 209, and AGV electrical control components 209 together constitute the controller.

[0048] Please see Figure 3 The telescopic frame 3 includes a telescopic frame base 301, a rotary motor 302, a main arm 303, an electric push rod 304, a main arm connecting rod 305, a rotary joint 306, a forearm 307, a triangular block 308, a forearm connecting rod 309, and a flange 310. The telescopic frame base 301 is fixedly installed on the extended robotic arm mounting plate 803 by bolts. The rotary motor 302 is fixedly installed inside the telescopic frame base 301, and its output shaft is coaxially connected to the bottom end of the main arm 303 by a set screw. One end of the main arm connecting rod 305 is hinged to the middle of the main arm 303, and the other end is hinged to the push rod end of the electric push rod 304. The cylinder end of the electric push rod 304 is hinged to the telescopic frame base 301. One corner of the triangular block 308 is hinged to the top of the main arm 303, two corners are hinged to one end of the forearm connecting rod 309, and the triangle is hinged to one end of the forearm 307. The other end of the forearm link 309 is hinged to the upper part of the upper arm 303, forming a parallelogram linkage mechanism; the rotary joint 306 is fixedly installed on the other end of the forearm 307, and the flange 310 is fixedly installed on the output shaft of the rotary joint 306; the extension and retraction of the electric push rod 304 can drive the upper arm 303 and the forearm 307 to extend or retract synchronously, and the rotary joint 306 can drive the flange 310 to rotate around its own axis, thereby adjusting the working angle and lateral extension distance of the end effector, so that the end effector can extend to the suspended side of the citrus tree in the terraced orchard for whole-tree harvesting.

[0049] Please see Figure 4The end effector 4 includes a local camera 401, a camera mounting plate 402, scissors 403, a scissor drive motor 404, a scissor frame 405, a four-finger gripper 406, a gripper motor 407, and an end effector flange 408. The end effector flange 408 is fixedly connected to the end flange of the robotic arm by bolts. The scissor holder 405 is fixedly installed on the upper end of the end effector flange 408. The local camera 401 is fixedly installed on the top of the scissor holder 405 by the camera mounting plate 402, and is used to identify the fruit and locate the fruit stem. The scissor drive motor 404 is fixedly installed on the upper part of the scissor holder 405, and its output shaft is coaxially connected to the drive shaft of the scissors 403 to control the opening and closing of the scissors 403. The four-finger gripper 406 is fixedly installed on the lower part of the scissors holder 405, and the gripper motor 407 is fixedly installed inside the end effector flange 408. Its output shaft is connected to the drive mechanism of the four-finger gripper 406 to control the opening and closing of the four-finger gripper 406. During harvesting, the four-finger gripper 406 first gently grips the citrus fruit, and then the scissors 403 cuts the fruit stem to complete the harvesting without damage.

[0050] Please see Figure 8 The fruit frame 7 includes a flexible support structure 701, a fruit frame 702, and a fruit frame body 703. The fruit frame body 703 is fixedly installed on the fruit frame fixing plate 804 by bolts, and the fruit frame 702 can be detached and placed inside the fruit frame body 703. Multiple sets of flexible support structures 701 are evenly distributed in a matrix on the inner bottom surface of the fruit frame 702. The flexible support structures 701 are made of silicone material, which can buffer the impact force when the fruit falls and avoid damage to the fruit from collision.

[0051] The working principle of the aforementioned extendable four-arm fruit tree harvesting robot is as follows:

[0052] The robot travels to one side of the terraced orchard where fruit trees are ready to be picked. The first depth camera 805 takes a global picture of the entire dwarf, densely planted, open-center citrus tree. After image processing, the robot completes the tree outline recognition, fruit distribution location and operation area division, and feeds the analysis results back to the industrial control computer 207.

[0053] Based on the fruit tree positioning information, the industrial control computer 207 sends control commands to the drive units of the four sets of telescopic frames 3 and the robotic arms, controlling the electric push rods 304 to extend and retract, causing the large arm 303 and the small arm 307 to unfold synchronously, so that the four robotic arms form a ring-shaped enveloping posture around the entire fruit tree. Two of the robotic arms cover the working area near the fruit tree, while the other two sets of robotic arms extend to the suspended side of the fruit tree through the telescopic frames 3, covering the working area far away. At the same time, the rotating joints 306 adjust the posture of the robotic arm ends to ensure that the end effector 4 can accurately reach the position of each fruit.

[0054] The industrial control computer 207 assigns the picking task to the four robotic arms. The second depth camera at the end of each robotic arm accurately identifies the target fruit and locates the fruit stem. The four-finger gripper gently holds the citrus fruit, and then the scissor drive motor drives the scissors to precisely cut the fruit stem, completing the non-destructive picking of a single fruit. After picking, the fruit is transferred by the robotic arm to the fruit frame 7. The flexible support structure 701 buffers the impact of the falling fruit and avoids damage to the peel.

[0055] After the entire canopy of fruit on a single fruit tree is harvested, the industrial control computer 207 controls the four sets of telescopic frames 3 to retract synchronously, the robotic arm and end effector 4 automatically reset, and the robot autonomously moves to the next fruit tree to be harvested, repeating the above operation process until the harvesting operation of the entire terraced orchard is completed.

[0056] The above description merely illustrates preferred embodiments of the present invention and is quite specific and detailed; however, it should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this invention should be determined by the appended claims.

Claims

1. A retractable four-arm fruit-picking robot, comprising a chassis, a controller, robotic arms, and an end effector, characterized in that, Also includes: Telescopic frame, vision module and electrical control cabinet; The chassis is a tracked chassis, and the electrical control cabinet is fixed on the vehicle-mounted welding plate on the top of the tracked chassis; The vision module is mounted on the vehicle-mounted welding plate and the end effector, and is used to perceive the environment and identify the fruit's pose. The telescopic mechanism is fixed on the vehicle-mounted welding plate, and a robotic arm is connected to its end. The telescopic mechanism is used to control the multi-degree-of-freedom movement of the robotic arm. The end effector is disposed at the end of the robotic arm; The controller is integrated in the electrical control cabinet and is used to receive visual signals from the vision module and send control signals to the tracked chassis, telescopic frame, robotic arm and end effector.

2. The extendable four-arm fruit-picking robot as described in claim 1, characterized in that, The robotic arm includes a first robotic arm and a second robotic arm. The first robotic arm is directly mounted on the vehicle-mounted welding plate, and the second robotic arm is mounted at the end of the telescopic mechanism.

3. The extendable four-arm fruit-picking robot as described in claim 2, characterized in that, The first robotic arms are arranged in pairs on the same side of the vehicle-mounted welding plate, and there is at least one pair; the telescopic frames are arranged in pairs on the outside of the location of the first robotic arms.

4. The extendable four-arm fruit tree harvesting robot as described in claim 3, characterized in that, The working range of the second robotic arm driven by the telescopic frame is greater than that of the first robotic arm, so that it can form an encircling harvesting pattern with the first robotic arm on the same fruit tree during harvesting.

5. A retractable four-arm fruit-picking robot as described in claim 1, characterized in that, The vision module includes a first depth camera and a second depth camera. The first depth camera is fixed on the vehicle-mounted welding plate, and the second depth camera is fixed on each of the end effectors.

6. The extendable four-arm fruit-picking robot as described in claim 1, characterized in that, The electrical control cabinet includes an electrical control cabinet shell and a heat dissipation system, the heat dissipation system including at least one fan; the electrical control cabinet shell is fixedly installed on the electrical control cabinet mounting plate by bolts, and the fan is fixedly installed on one side wall of the electrical control cabinet shell to realize air convection heat dissipation inside the cabinet; a middle door and two side doors are opened on one side wall of the electrical control cabinet shell; the interior of the electrical control cabinet shell is divided into upper and lower layers by a partition.

7. A retractable four-arm fruit-picking robot as described in claim 6, characterized in that, The controller includes a touchscreen display, an industrial computer, motor drivers, and AGV electrical control components; the touchscreen display is embedded in the middle door; the upper layer of the partition is provided with several motor drivers, each motor driver corresponding to and controlling one of the robotic arms; the industrial computer is fixed in the middle of the lower layer of the partition; the AGV electrical control components are fixed on both sides of the lower layer of the partition, used to realize centralized control of robot movement, perception, and harvesting operations.

8. A retractable four-arm fruit-picking robot as described in claim 1, characterized in that, The telescopic frame includes a telescopic frame base, a rotary motor, a boom, an electric push rod, a boom connecting rod, a rotary joint, a forearm, a triangular block, a forearm connecting rod, and a flange. The telescopic frame base is fixed to the vehicle-mounted welding plate. The rotary motor is installed inside the telescopic frame base. The boom is fixedly connected to the output shaft of the rotary motor. One end of the boom connecting rod is hinged to the middle of the boom, and the other end is hinged to the push rod end of the electric push rod. The cylinder end of the electric push rod is hinged to the telescopic frame base. The first corner of the triangular block is hinged to the top of the boom, the second corner is hinged to one end of the forearm connecting rod, and the third corner is hinged to one end of the forearm. The other end of the forearm connecting rod is hinged to the upper part of the boom. The rotary joint is fixedly installed on the other end of the forearm. The flange is fixedly installed on the output shaft of the rotary joint.

9. A retractable four-arm fruit-picking robot as described in claim 1, characterized in that, The end effector includes a camera mounting plate, scissors, a scissor drive motor, a scissor frame, a four-finger gripper, a gripper motor, and an end effector flange. The end effector flange is fixedly connected to the end flange of the robotic arm, and the scissor frame is fixedly mounted on the upper end of the end effector flange. The vision module is fixedly mounted on the top of the scissor frame via the camera mounting plate. The scissor drive motor is fixedly mounted on the upper part of the scissor frame, and its output shaft is coaxially connected to the drive shaft of the scissors. The four-finger gripper is fixedly mounted on the lower part of the scissor frame. The gripper motor is fixedly mounted inside the end effector flange, and its output shaft is connected to the drive mechanism of the four-finger gripper.

10. A retractable four-arm fruit-picking robot as described in any one of claims 1-9, characterized in that, It also includes a fruit frame, which comprises a flexible support structure, a fruit frame, and a fruit frame body; the fruit frame body is fixedly installed on the vehicle-mounted welding plate by bolts, and the fruit frame can be detachably placed inside the fruit frame body; multiple sets of the flexible support structures are evenly distributed in a matrix on the inner bottom surface of the fruit frame, and the flexible support structures are made of silicone material.

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