A combing and picking robot for picking camellia oleifera fruits and a control method thereof

Abstract

The application discloses a combing and picking robot for picking camellia oleifera fruits and a control method thereof, wherein the movable base is movable on a support plane, a navigation structure is arranged on the movable base to collect environmental information and fruit tree positions, a mechanical arm is arranged on the movable base and has a movable end at one end, a collecting assembly includes a combing and brushing structure and a picking structure arranged on the movable end, the combing and brushing structure includes a plurality of comb tooth portions arranged at intervals in a first direction, the comb tooth portions extend along a second direction and are movable in the second direction, the comb tooth portions have working ends in the second direction, the working ends of two adjacent comb tooth portions are arranged at intervals in the second direction, the comb tooth portions comb and gather the fruits, the picking structure is arranged on one side of the combing and brushing structure in a third direction to pick the fruits, and a visual positioning structure is arranged on the combing and brushing structure to scan and position the fruits. Thus, the damage to the fruit trees and the fruits can be reduced, and the fruit picking quality and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of automatic harvesting technology, and in particular to a sorting and harvesting robot for picking camellia oleifera fruits and its control method. Background Technology

[0002] The camellia oil industry is an important woody oilseed industry in my country, playing a vital role in ensuring food and oil security. The harvesting of camellia fruits is a crucial step in the development of the camellia oil industry; its harvesting efficiency, fruit damage rate, and the extent of damage to the branches and trunks directly affect the economic benefits and sustainable development of the industry. Currently, camellia fruit harvesting mainly relies on manual harvesting and simple mechanized harvesting. Manual harvesting suffers from low efficiency, high labor costs, seasonal labor shortages, and is prone to mechanical damage to the fruits due to improper handling, reducing the oil yield and quality.

[0003] Existing simple mechanized harvesting equipment is mostly handheld, vibrating, or branch-shaking. Such equipment has a low level of automation and intelligence, which not only causes serious mechanical damage to the branches and trunks of camellia trees during the harvesting process, affecting the subsequent fruiting, but also has defects such as high harvesting costs and poor adaptability to complex hilly and mountainous terrain. At the same time, some comb-type harvesting equipment is prone to problems such as comb teeth getting stuck on branches and incomplete fruit harvesting, making it difficult to meet the needs of large-scale and standardized production in the camellia oil industry. Summary of the Invention

[0004] The main objective of this invention is to propose a combing and harvesting robot and its automated method for picking camellia oleifera fruits, aiming to improve the problems of damage to fruit trees, branch jamming by comb teeth, and incomplete harvesting caused by existing harvesting equipment during the harvesting process.

[0005] To achieve the above objectives, the present invention proposes a sorting and harvesting robot for picking camellia oleifera fruits, comprising: A movable base, used to move freely on the supporting surface; A navigation structure is provided on the movable base, and the navigation structure is used to collect environmental information and determine the location of the fruit trees; A robotic arm is mounted on the movable base, with one end being movable to form a movable end. The movable end of the robotic arm can move to the position of the fruit. A harvesting component includes a brush structure and a harvesting structure located at the movable end. The brush structure includes multiple comb teeth spaced apart in a first direction. Each comb tooth extends along a second direction and is movable in the second direction. Each comb tooth has a working end in the second direction, and the working ends of adjacent comb teeth are spaced apart in the second direction. The multiple comb teeth are used to comb and gather the fruit. The harvesting structure is located on one side of the brush structure in the third direction and is used to harvest the fruit. A visual positioning structure is provided on the comb structure, and the visual positioning structure is used to scan and position the fruit.

[0006] In one embodiment, the comb structure further includes: A comb mounting base is provided at intervals from the movable end, and a plurality of comb teeth are movably provided on the comb mounting base; A first driving unit, disposed at the movable end and motive-connected to the comb / brush mounting base, is used to drive the comb / brush mounting base to move in a third direction; and... A connecting portion is provided at a distance from the first driving portion in a second direction, and the two opposite ends of the connecting portion are rotatably connected to the movable end and the comb mounting base along an axis extending in a first direction.

[0007] In one embodiment, the comb mounting base is provided with a telescopic drive structure, the telescopic drive structure comprising: A first motor is mounted on the brush mounting base; The gear set includes a driving gear and a plurality of driven gears disposed on the comb mounting base. The driving gear is driven and connected to the first motor to rotate along a third-direction extending axis. The plurality of driven gears are respectively arranged corresponding to a plurality of comb teeth, and each driven gear meshes with at least the driving gear and / or another driven gear to rotate synchronously along the third-direction extending axis; and The crank assembly includes multiple cranks, with each crank having its two ends rotatably connected to a corresponding driven gear and a comb tooth, so that when the driven gear rotates, it drives the corresponding comb tooth to move in a second direction.

[0008] In one embodiment, the harvesting structure includes: The three-axis drive unit includes multiple second drive units, which are sequentially connected and arranged along a first direction, a second direction and a third direction, respectively, to output drive displacement in the corresponding direction, wherein one of the second drive units is located at the movable end; A cutting part is driven to a second driving part, the cutting part being moved to the fruit stalk position under the drive of a plurality of second driving parts, so as to cut the fruit stalk.

[0009] In one embodiment, the cutting portion includes: A cutting seat, disposed at the driving end of a second driving unit, wherein the cutting seat has a through hole extending along a third direction; and Multiple cutting blades are arranged at intervals around the cutting seat in the circumferential direction, and the multiple cutting blades are synchronously moved along the axial direction close to or away from the through hole, for clamping and cutting the fruit stalks extending into the through hole.

[0010] In one embodiment, the cutting portion further includes: A cutting plate is disposed at one end of the cutting seat in the third direction to clamp a plurality of cutting blades with the cutting seat. The cutting plate is rotatably disposed along an axis extending in the third direction, and has a through hole corresponding to the through hole in the third direction and a plurality of driving holes corresponding to the plurality of cutting blades. The plurality of driving holes extend in the circumferential direction of the cutting seat and are inclined toward the through hole in the circumferential direction of the cutting seat. Each driving hole is arc-shaped toward the through hole. The third driving unit is located on the cutting seat and is drivingly connected to the cutting plate to drive the cutting plate to rotate along a third-direction extending axis; Each of the cutting blades extends at least partially into the corresponding drive hole to engage with the drive hole.

[0011] In one embodiment, the cutting seat is provided with a hydraulic groove, which is arranged in an arc shape along the circumference of the cutting seat; The cutting plate is provided with a protrusion corresponding to the hydraulic groove. The protrusion extends at least partially into the hydraulic groove and slides and seals with the groove wall of the hydraulic groove. The protrusion is provided with an injection hole that communicates with the hydraulic groove. The third drive unit includes a hydraulic oil tank, which is connected to the hydraulic groove through the injection hole, and is used to deliver hydraulic oil into the hydraulic groove.

[0012] In one embodiment, the sorting and harvesting robot for picking camellia oleifera fruits further includes a collection structure, the collection structure comprising: A collection box, located on the movable base, is used to collect the fruit harvested by the harvesting structure; and, The collection tube is flexibly designed, with one end connected to the collection box and the other end extending to the harvesting structure to receive the fruit harvested by the harvesting structure.

[0013] In one embodiment, one end of the collecting tube is gradually widened to form a receiving end, which is configured to correspond to the picking structure.

[0014] This invention also proposes a control method for a combing and harvesting robot used for picking camellia oleifera fruits. Based on the above-mentioned combing and harvesting robot for picking camellia oleifera fruits, the control method for the combing and harvesting robot for picking camellia oleifera fruits includes: The control navigation structure collects environmental information and the location of the target fruit trees in order to plan the travel route of the sorting and harvesting robot used to pick camellia fruit; Control the movable base to move along the travel route to the target fruit tree location; The visual positioning structure scans and locates multiple fruits; The robotic arm is controlled to move according to the positioning results, so that the moving end corresponds to the fruit. Control multiple comb teeth to comb and gather multiple fruits; Control the harvesting structure to harvest multiple fruits sequentially.

[0015] In the technical solution of this invention, during the operation of the sorting and harvesting robot for picking camellia oleifera fruits, firstly, the navigation structure can collect environmental information around the sorting and harvesting robot and determine the location of the target fruit tree. Based on the environmental information, it plans a predetermined route for the sorting and harvesting robot to move from its current location to the target fruit tree, so that the robot can avoid obstacles in the environment. Then, the movable base moves to allow the robot to move to the target fruit tree. At this time, the visual positioning structure scans and positions the fruits on the target fruit tree to determine their specific locations. The robotic arm drives the movable end to move the collection component to the corresponding position of the fruit. Then, the combing structure moves first, and multiple comb teeth move simultaneously in the second direction. At this time, since the working ends of adjacent comb teeth are spaced apart in the second direction, when multiple comb teeth move simultaneously in the second direction, they can work together to comb and gather the fruit, preventing branches from getting stuck between adjacent comb teeth. This achieves anti-branch-jamming and low-damage combing, gathering multiple fruits into the area corresponding to the harvesting structure. Finally, the harvesting structure harvests the multiple fruits combed by the combing structure one by one, thereby achieving precise fruit harvesting. This setup not only enables precise harvesting of multiple fruits but also prevents branches from getting stuck during the harvesting process of the combing and harvesting robot used for picking camellia fruit, effectively reducing damage to the fruit tree and fruit during the harvesting process and improving the yield and efficiency of fruit harvesting. Attached Figure Description

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

[0017] Figure 1 This is a schematic diagram of an embodiment of the sorting and harvesting robot for picking camellia oleifera fruits provided by the present invention. Figure 2 for Figure 1 A magnified view of a portion of the data acquisition component; Figure 3 for Figure 1 A schematic diagram of the middle comb brush structure; Figure 4 for Figure 1 A schematic diagram of the harvesting structure; Figure 5 for Figure 4 A schematic diagram of the harvesting structure (partial perspective); Figure 6 This is a flowchart illustrating an embodiment of the control method for a sorting and harvesting robot used for picking camellia oleifera fruits provided by the present invention. Figure 7 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the control method of the sorting and harvesting robot used for picking camellia fruit in an embodiment of the present invention.

[0018] Explanation of icon numbers: 100. A combing and harvesting robot for picking camellia oleifera fruits; 1. Movable base; 2. Navigation structure; 3. Robotic arm; 31. Movable end; 4. Collection component; 41. Comb structure; 411. Comb teeth; 412. Comb mounting base; 413. First drive unit; 414. Connecting part; 415. Telescopic drive structure; 415a. First motor; 415b. Drive gear; 415c. Driven gear; 415d. Crank; 42. Harvesting structure; 421. Second drive unit; 422. Cutting part; 422a. Cutting seat; 422b. Cutting blade; 422c. Cutting plate; 422d. Drive hole; 5. Visual positioning structure; 6. Collection structure; 61. Collection box; 62. Collection tube.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] The camellia oil industry is an important woody oilseed industry in my country, playing a vital role in ensuring food and oil security. The harvesting of camellia fruits is a crucial step in the development of the camellia oil industry; its harvesting efficiency, fruit damage rate, and the extent of damage to the branches and trunks directly affect the economic benefits and sustainable development of the industry. Currently, camellia fruit harvesting mainly relies on manual harvesting and simple mechanized harvesting. Manual harvesting suffers from low efficiency, high labor costs, seasonal labor shortages, and is prone to mechanical damage to the fruits due to improper handling, reducing the oil yield and quality.

[0024] Existing simple mechanized harvesting equipment is mostly handheld, vibrating, or branch-shaking. Such equipment has a low level of automation and intelligence, which not only causes serious mechanical damage to the branches and trunks of camellia trees during the harvesting process, affecting the subsequent fruiting, but also has defects such as high harvesting costs and poor adaptability to complex hilly and mountainous terrain. At the same time, some comb-type harvesting equipment is prone to problems such as comb teeth getting stuck on branches and incomplete fruit harvesting, making it difficult to meet the needs of large-scale and standardized production in the camellia oil industry.

[0025] This invention proposes a combing and harvesting robot for picking camellia fruits, aiming to improve the problems of existing harvesting equipment that easily cause damage to fruit trees, branch jamming by comb teeth, and incomplete harvesting during the harvesting process.

[0026] Please see Figure 1 , Figure 2 and Figure 3In one embodiment of the present invention, the combing and harvesting robot 100 for picking camellia fruit includes a movable base 1, a navigation structure 2, a robotic arm 3, a collection component 4, and a visual positioning structure 5. The movable base 1 is movable on a supporting plane. The navigation structure 2 is disposed on the movable base 1 and is used to collect environmental information and determine the location of the fruit tree. The robotic arm 3 is disposed on the movable base 1, and one end is movable to form a movable end 31. The movable end 31 of the robotic arm 3 can move to the location of the fruit. The collection component 4 includes a combing structure 41 and a picking structure 42000 disposed on the movable end 31. 2. The comb structure 41 includes a plurality of comb teeth 411 spaced apart in a first direction. Each comb tooth 411 extends along a second direction and is movable in the second direction. Each comb tooth 411 has a working end in the second direction. The working ends of two adjacent comb teeth 411 are spaced apart in the second direction. The plurality of comb teeth 411 are used to comb and gather the fruit. The picking structure 42 is located on one side of the comb structure 41 in a third direction and is used to pick the fruit. The visual positioning structure 5 is located on the comb structure 41 and is used to scan and position the fruit.

[0027] In the technical solution of this invention, during the operation of the sorting and harvesting robot 100 for picking camellia oleifera fruits, firstly, the navigation structure 2 can collect environmental information around the sorting and harvesting robot 100 and determine the location of the target fruit tree. Based on the environmental information, it plans a predetermined route for the sorting and harvesting robot 100 to move from its current location to the target fruit tree location, so that the sorting and harvesting robot 100 can avoid obstacles in the environment. Then, the movable base 1 moves to allow the sorting and harvesting robot 100 to move to the target fruit tree location. At this time, the visual positioning structure 5 scans and positions the fruits on the target fruit tree to determine the specific location of the fruits. The robotic arm 3 can drive the movable end 31 to move the harvesting component 4 to the corresponding position of the fruit. Then, the combing structure 41 moves first, and multiple comb teeth 411 move simultaneously in the second direction. At this time, since the working ends of two adjacent comb teeth 411 are spaced apart in the second direction, when multiple comb teeth 411 move simultaneously in the second direction, multiple comb teeth 411 can work together to comb and gather the fruit, preventing branches from getting stuck between two adjacent comb teeth 411, achieving anti-branch jamming and low-damage combing, so as to gather multiple fruits into the area corresponding to the harvesting structure 42. Finally, the harvesting structure 42 harvests the multiple fruits combed by the combing structure 41 one by one, thereby achieving precise harvesting of the fruit. This setup not only enables precise harvesting of multiple fruits, but also prevents branches from getting stuck during the harvesting process of the camellia oil fruit-harvesting robot 100 while sorting and gathering the fruits. This effectively reduces damage to the fruit trees and fruits during the harvesting process and improves the yield and efficiency of fruit harvesting.

[0028] It should be noted that the environmental information collected by the navigation structure 2 includes not only the location of the fruit trees, but also information such as obstacles and road conditions in the environment. This can help the active base 1 plan a safer and smoother travel route, avoid collisions with obstacles during travel, and ensure that the fruit picking operation can be carried out smoothly.

[0029] It should also be noted that the first direction, the second direction, and the third direction are three directions that are perpendicular to each other in space. In this embodiment, the first direction is set as horizontal, the second direction is set as horizontal, and the third direction is set as vertical. The three directions can also be adjusted according to the planting layout of the fruit trees and the adaptability of the fruit's growth posture.

[0030] To ensure that the movable end 31 of the robotic arm 3 can move to the positions corresponding to multiple different fruits, the robotic arm 3 is configured as a multi-axis robotic hand. This ensures the range of motion and angle of the movable end 31, enabling the movable end 31 to move in the first direction, the second direction, and the third direction.

[0031] It should be further noted that, in this invention, the sorting and harvesting robot 100 for picking camellia fruits also includes a control device, which is electrically connected to the movable base 1, the navigation structure 2, the robotic arm 3, the collection component 4, and the visual positioning structure 5, so as to control the movable base 1, the navigation structure 2, the robotic arm 3, the collection component 4, and the visual positioning structure 5 to work independently.

[0032] It is understood that in this invention, since the working ends of two adjacent comb teeth 411 are spaced apart in the second direction, when multiple comb teeth 411 move simultaneously in the second direction, they can achieve staggered linear back-and-forth movement in the second direction. This staggered movement can pass through the gaps between branches when passing through the fruit tree branch and leaf area, without forcibly wrapping branches into the gaps between the comb teeth, thereby reducing the probability of branches getting stuck between two adjacent comb teeth 411 from the root. During the combing process, the fruit is only gradually pushed and gathered towards the picking structure 42, which not only completes the pre-picking sorting work, but also avoids scratching or pulling damage to branches and fruits, ensuring the subsequent growth capacity of the fruit tree and the integrity of the fruit after picking.

[0033] In some embodiments, each of the comb teeth 411 is surrounded by a flexible buffer layer. The flexible buffer layer is made of food-grade elastic silicone, which can buffer the impact and squeezing force through its own elastic deformation when the comb teeth 411 come into contact with the fruit or branches, thereby further reducing damage to the fruit skin and fruit tree branches.

[0034] Of course, it should be further explained that, in this invention, since the branches of fruit trees are relatively messy, when the combing structure 41 performs combing work on the branches of fruit trees, it needs to adapt to the extension angle of the branches. Therefore, in a further embodiment of this invention, the combing structure 41 also includes a combing mounting base 412, a first driving part 413, and a connecting part 414. The combing mounting base 412 is disposed at a distance from the movable end 31. A plurality of comb teeth 411 are movably disposed on the combing mounting base 412. The first driving part 413 is disposed on the movable end 31 and is drivenly connected to the combing mounting base 412. The first driving part 413 is used to drive the combing mounting base 412 to move in a third direction. The connecting part 414 is disposed at a distance from the first driving part 413 in a second direction. The two opposite ends of the connecting part 414 are rotatably connected to the movable end 31 and the combing mounting base 412 along the axis extending in the first direction. With this configuration, when the comb structure 41 needs to comb and gather the fruit, the first drive unit 413 operates to output driving force to the connecting part 414. At this time, the first drive unit 413 will drive the comb mounting base 412 to move in a third direction. Since the comb mounting base 412 and the movable end 31 are rotatably connected by an axis extending in the first direction, when the output end of the first drive unit 413 drives the comb mounting base 412 to move in the third direction, it can drive the comb mounting base 412 to rotate around the first direction, thereby adjusting the overall working angle of the comb teeth 411 to adapt to the natural extension direction of the fruit tree branches, further reducing the probability of branches getting stuck during combing and ensuring the combing and gathering effect.

[0035] It is understood that the present invention does not limit the specific structural form of the first driving part 413. In one embodiment of the present invention, the first driving part 413 can be a telescopic cylinder. The telescopic cylinder extends along a third direction so that the cylinder rod of the telescopic cylinder can extend and retract in the third direction. The cylinder rod is connected to the comb mounting base 412 so that when it extends and retracts in the third direction, it drives the comb mounting base 412 to rotate along the axis extending in the first direction.

[0036] In another embodiment of the present invention, the first driving part 413 may also be configured as a linear motor, the mover of the linear motor being connected to the comb mounting base 412, which can also drive the comb mounting base 412 to move in a third direction, thereby realizing adaptive adjustment of the angle of the comb teeth 411.

[0037] In other embodiments of the present invention, the comb structure 41 may also be configured in other forms, which can be selected according to the actual requirements.

[0038] To further ensure the combing and gathering of the fruit by the brush structure 41, thereby ensuring the normal reciprocating movement of the multiple comb teeth 411 in the second direction, please refer to [link to relevant documentation]. Figure 3 In a further embodiment of the present invention, the comb mounting base 412 is provided with a telescopic drive structure 415. The telescopic drive structure 415 includes a first motor 415a, a gear set, and a crank set. The first motor 415a is disposed on the comb mounting base 412. The gear set includes a driving gear 415b and a plurality of driven gears 415c disposed on the comb mounting base 412. The driving gear 415b is drivenly connected to the first motor 415a to rotate along a third-direction axis. The plurality of driven gears 415c are respectively arranged corresponding to a plurality of comb teeth, and each driven gear 415c meshes with at least the driving gear 415b and / or another driven gear 415c to rotate synchronously along a third-direction axis. The crank set includes a plurality of cranks 415d. The two ends of each crank 415d are respectively rotatably connected to the corresponding driven gear 415c and the comb teeth, so that when the driven gear 415c rotates, it drives the corresponding comb teeth to move in a second direction.

[0039] In this embodiment, when the comb structure 41 needs to comb and gather multiple fruits, the first motor 415a operates to transmit driving force to the drive gear 415b. Since each driven gear 415c meshes with at least the drive gear 415b and / or another driven gear 415c, a complete power transmission path can be formed between the drive gear 415b and the multiple driven gears 415c. The rotation of the first motor 415a will drive all the driven gears 415c to rotate synchronously. When the multiple driven gears 415c rotate, each driven gear... The driven gear 415c drives the corresponding comb tooth 411 to perform linear reciprocating extension and retraction along the second direction via the corresponding crank 415d. At the same time, since multiple driven gears 415c rotate synchronously, the working ends of two adjacent comb tooth 411 can always maintain a staggered arrangement in the second direction. This ensures that multiple comb tooth 411 perform combing actions synchronously and maintains the staggered anti-jamming structural characteristics. Only one first motor 415a is needed to realize the synchronous drive of multiple comb tooth 411, which simplifies the drive form, reduces the overall weight and failure rate of the equipment, and facilitates maintenance.

[0040] Of course, the present invention does not limit the specific cooperation form between the driving gear 415b and the plurality of driven gears 415c. In one embodiment of the present invention, the plurality of driven gears 415c are arranged at intervals along the first direction, and each driven gear 415c meshes with the other adjacent driven gears 415c. The driving gear 415b is located on one side of the plurality of driven gears 415c in the second direction and meshes with one of the driven gears 415c. With this arrangement, after any driven gear 415c is driven to rotate by the driving gear 415b, it will drive the adjacent driven gears 415c to rotate synchronously through the meshing relationship, thereby ensuring that all the comb teeth 411 can obtain a stable driving force and realize synchronous extension and retraction.

[0041] In another embodiment of the present invention, the driving gear 415b and the plurality of driven gears 415c are arranged at intervals in a first direction. The driving gear 415b meshes with the adjacent driven gears 415c, and each driven gear 415c meshes with other adjacent driven gears 415c. This arrangement ensures that all driven gears 415c rotate synchronously through meshing transmission, resulting in stable and reliable transmission. Only the gear ratio needs to be adjusted to adapt to the first motor 415a with different power and speed, thus enhancing adaptability.

[0042] In other embodiments of the present invention, the driving gear 415b and the driven gear 415c may be arranged in other ways, which can be selected according to requirements in the present invention.

[0043] Furthermore, the movable end 31 moves the picking structure 42 and the combing structure 41 to the fruit position. After the combing structure 41 completes combing and gathering the fruit, to ensure that the picking structure 42 accurately picks the gathered fruit, please refer to [link to relevant documentation]. Figure 4In one embodiment of the present invention, the harvesting structure 42 includes a three-axis drive unit and a cutting unit 422. The three-axis drive unit includes a plurality of second drive units 421, which are sequentially connected and arranged along a first direction, a second direction and a third direction, respectively, to output driving displacement in the corresponding direction. One of the second drive units 421 is located at the movable end 31. The cutting unit 422 is connected to one of the second drive units 421. The cutting unit 422 is used to move to the fruit stalk position under the drive of the plurality of second drive units 421 to cut the fruit stalk. With this configuration, after the comb structure 41 gathers the fruit to the corresponding area, multiple second drive units 421 can cooperate to drive the cutting unit 422 to move precisely to the fruit stalk position of the corresponding fruit, so that the cutting unit 422 can directly cut the fruit stalk without the need for the cutting unit 422 to move and adjust its position over a large range. This not only shortens the operation time for picking a single fruit and improves the overall picking efficiency, but also ensures that the cutting position is accurate, avoiding accidental cutting of fruit tree branches or damage to the fruit itself, and further reducing the damage to the fruit tree and fruit caused by the picking operation.

[0044] It should be noted that the present invention does not limit the specific structural form of the cutting part 422. In one embodiment of the present invention, the cutting part 422 can be set as scissors. With this setting, the fruit stem can be cut directly by the closing movement of the blade. The cutting action is crisp and clean, and the cut is flat. It can quickly complete the picking operation without causing pulling damage to the fruit.

[0045] Meanwhile, the scissor structure is simple and reliable, with low manufacturing costs, and is easy to maintain and replace, reducing the operating costs of the equipment.

[0046] Please see Figure 5 In another embodiment of the present invention, the cutting part 422 includes a cutting seat 422a and a plurality of cutting blades 422b. The cutting seat 422a is disposed at the driving end of a second driving part 421. The cutting seat 422a has a through hole in a third direction. The plurality of cutting blades 422b are arranged circumferentially on the cutting seat 422a and are synchronously movable in the direction of the axis close to or away from the through hole to clamp and cut the fruit stalks extending into the through hole. With this arrangement, when the fruit gathers, the fruit stalks can extend into the through hole. At this time, the plurality of cutting blades 422b move synchronously in the direction close to the axis of the through hole, so that the fruit stalks can be clamped and cut from multiple directions at the same time. This can adapt to fruit stalks of different thicknesses, and the cutting process is subjected to uniform force, making it less likely for the fruit stalks to tear or the fruit to fall off, further improving the harvesting effect.

[0047] In other embodiments of the present invention, the cutting part 422 can also be configured in other structural forms, which can be selected according to the actual requirements.

[0048] Specifically, in this invention, the cutting part 422 is provided with the cutting seat 422a and a plurality of cutting blades 422b.

[0049] However, it should be noted that when multiple cutting blades 422b work together to harvest the fruit, the multiple cutting blades 422b need to move synchronously to ensure cutting quality. Therefore, in a further embodiment of the present invention, the cutting part 422 also includes a cutting plate 422c and a third driving part. The cutting plate 422c is disposed at one end of the cutting seat 422a in the third direction to clamp the multiple cutting blades 422b with the cutting seat 422a. The cutting plate 422c is rotatably disposed along the axis extending in the third direction, and has a through hole corresponding to the through hole in the third direction. The plurality of cutting blades 422b are provided with a plurality of driving holes 422d, which extend circumferentially on the cutting base 422a and are inclined toward the through hole along the circumferential direction of the cutting base 422a. Each driving hole 422d is arc-shaped toward the through hole. The third driving part is provided on the cutting base 422a and is drivenly connected to the cutting plate 422c to drive the cutting plate 422c to rotate along the third-direction extending axis. Each cutting blade 422b extends at least partially into the corresponding driving hole 422d to engage with the driving hole 422d. With this configuration, when the cutting part 422 needs to cut the fruit stem, the third driving part operates to drive the cutting plate 422c to rotate along a third-direction axis. At this time, the arc-shaped inclined driving hole 422d outputs a squeezing force towards the through hole to the part of the cutting blade 422b that extends into the driving hole 422d through the hole wall. This causes multiple cutting blades 422b to move synchronously in a direction close to the through hole axis, completing the clamping and cutting of the fruit stem. After the cutting is completed, the third driving part drives the cutting plate 422c to rotate in the opposite direction, which can drive multiple cutting blades 422b to retract synchronously in a direction away from the through hole axis, completing the reset. In this way, only one third driving part is needed to realize the synchronous driving of multiple cutting blades 422b. The structure is compact, the synchronization is good, and the cutting process is stable and reliable.

[0050] It is understood that the third drive unit can also be configured in various different structural forms. In one embodiment of the present invention, the third drive unit can be configured as a drive motor. With this configuration, the drive motor can precisely control the rotation angle of the cutting plate 422c, thereby precisely controlling the feed amount of the multiple cutting blades 422b, adapting to the cutting needs of fruit stems of different thicknesses, with high control precision, fast response speed, and the ability to quickly complete the cutting action, thus improving harvesting efficiency.

[0051] In another embodiment of the present invention, the cutting seat 422a is provided with a hydraulic groove, which is arc-shaped along the circumference of the cutting seat 422a. The cutting plate 422c is provided with a protrusion corresponding to the hydraulic groove. The protrusion extends at least partially into the hydraulic groove and slides and seals with the groove wall of the hydraulic groove. The protrusion is provided with an injection hole communicating with the hydraulic groove. The third driving unit includes a hydraulic oil tank, which communicates with the hydraulic groove through the injection hole and is used to supply hydraulic oil into the hydraulic groove. With this configuration, the hydraulic oil tank can supply pressurized oil into the hydraulic groove through the injection hole, which can push the protrusion to slide along the arc-shaped extension direction of the hydraulic groove, thereby driving the cutting plate 422c to rotate. In turn, the cutting plate 422c drives multiple cutting blades 422b to move simultaneously. The output driving torque is large, which can easily cut thicker fruit stems. The power is sufficient, the cutting process is stable, and there will be no jamming or weakness.

[0052] In other embodiments of the present invention, the third driving unit may also be configured with other structures, which can be flexibly selected according to actual harvesting needs.

[0053] Furthermore, after the picking structure 42 picks the fruit, the combing and picking robot 100 for picking camellia fruit also needs to store the picked fruit to prevent it from falling and getting damaged. Therefore, in one embodiment of the present invention, the combing and picking robot 100 for picking camellia fruit also includes a collection structure 6. The collection structure 6 includes a collection box 61 and a collection tube 62. The collection box 61 is located on the movable base 1 and is used to collect the fruit picked by the picking structure 42. The collection tube 62 is flexibly arranged, with one end connected to the collection box 61 and the other end extending to the picking structure 42 to receive the fruit picked by the picking structure 42. With this configuration, the harvested fruit by the picking structure 42 can fall directly into the collection tube 62 and slide down the flexible collection tube 62 into the collection box 61 located at the movable base 1 for temporary storage. This eliminates the need for the picking structure 42 to transport the fruit back to storage one by one, effectively saving the time of picking a single fruit and further improving the overall picking efficiency of the sorting and picking robot 100 used for picking camellia fruit. At the same time, the flexible collection tube 62 can buffer the falling fruit, preventing the fruit from falling directly and causing collision damage, thus ensuring the quality of the finished product after picking.

[0054] Furthermore, the collection tube 62 is made flexible, so that the collection tube 62 can move synchronously with the harvesting structure 42 without hindering the position adjustment of the harvesting structure 42, thus ensuring the normal progress of the harvesting operation.

[0055] Meanwhile, since the overall weight of the collection box 61 is mainly borne by the movable base 1, the movable end 31 of the robotic arm 3 does not need to bear additional collection weight, which effectively reduces the load on the movable end 31, improves the accuracy of the activity control of the picking structure 42, and also reduces the power requirements of the robotic arm 3, further reducing the equipment failure rate.

[0056] To ensure the fruit collection capacity of the collection tube 62 while minimizing fruit collisions within it, in a further embodiment of the invention, one end of the collection tube 62 is tapered to form a receiving end, which corresponds to the harvesting structure 42. This design increases the receiving area, facilitating the collection of harvested fruit and preventing damage from falling outside the collection tube 62. Furthermore, because the diameter of the portion of the collection tube 62 furthest from the collecting end is smaller, excessive fruit collisions within the tube are also minimized. Additionally, the tapered receiving end does not obstruct or interfere with the cutting operation of the harvesting structure 42, ensuring the normal operation of the fruit stem cutting.

[0057] Furthermore, a flexible buffer layer can be provided on the inner wall of the collection tube 62 to further reduce the impact force when the fruit falls and better protect the fruit skin from damage.

[0058] This invention also proposes a control method for a combing and harvesting robot used for picking camellia oleifera fruits. This control method is based on the aforementioned combing and harvesting robot 100, the specific structure of which is described in the above embodiments. Since this control method for the combing and harvesting robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. Please refer to... Figure 6 The control method for the sorting and harvesting robot used to pick camellia oleifera fruits includes: S10, the control navigation structure 2 collects environmental information and the location of the target fruit tree in order to plan the travel route of the sorting and picking robot 100 used for picking camellia fruit; It is understood that before the picking robot 100 for harvesting camellia fruit begins its picking operation, the navigation structure 2 can sense the surrounding orchard environment information, identify the specific location of the target fruit tree, and generate the optimal route based on the orchard's terrain and road conditions. This allows the picking robot 100 to move autonomously to the target picking area without manual guidance, thus achieving autonomous operation and reducing the intensity of manual labor.

[0059] S20. Control the movable base 1 to move along the travel route to the target fruit tree location; Thus, the active base 1 can move according to the travel route planned by the navigation structure 2, thereby autonomously traveling to the target picking area without the need for manual driving, reducing the degree of human intervention and adapting to the needs of automated picking operations.

[0060] S30, visual positioning structure 5 scans and positions multiple fruits; It should be noted that the fruits on the fruit trees grow in different locations. By scanning the fruits on the target fruit tree one by one through the visual positioning structure 5, the specific location of each mature fruit can be accurately identified. At the same time, obstacles such as branches and leaves around the fruit can also be identified, providing accurate location data for subsequent harvesting actions and avoiding accidental damage to the fruit or fruit tree during the harvesting process.

[0061] S40. Control the movement of the robotic arm according to the positioning result, so that the moving end 31 corresponds to the fruit; Both the combing structure 41 and the picking structure 42 are located at the movable end 31, so that the movable end 31 corresponds to the fruit. This allows both the combing structure 41 and the picking structure 42 to be close to the fruit to be picked, ensuring the smooth progress of subsequent picking work.

[0062] S50, control multiple comb teeth 411 to comb and gather multiple fruits; Multiple comb teeth 411 move simultaneously in the second direction. At this time, since the working ends of two adjacent comb teeth 411 are spaced apart in the second direction, when multiple comb teeth 411 move simultaneously in the second direction, multiple comb teeth 411 can comb and gather the fruit together, preventing branches from getting stuck between two adjacent comb teeth 411.

[0063] S60, controlling the picking structure 42 to pick multiple fruits in sequence.

[0064] Understandably, once the comb teeth 411 have finished combing and gathering the fruits, the fruits that were originally growing haphazardly on the branches have been organized into an area that is easy to pick. At this point, the picking structure 42 can pick the gathered fruits in sequence according to the position data given by the visual positioning structure 5, without having to repeatedly adjust the comb structure 41 to re-comb them. This allows for the orderly completion of the picking of mature fruits on the entire target fruit tree, with a clear and coherent workflow that avoids confusion during the picking process and further improves the efficiency and accuracy of the overall picking operation.

[0065] In the technical solution of this embodiment, through the cooperation of the navigation structure 2 and the visual positioning structure 5, the sorting and picking robot 100 for picking camellia fruit is first guided to autonomously move to the target picking area, and then the position of each mature fruit is accurately located. Subsequently, the combing structure 41 sorts and gathers the fruit in advance, and finally the picking structure 42 completes the cutting and picking in sequence. The whole picking process is highly automated, with accurate positioning and smooth movements. It reduces the degree of human intervention, reduces the labor intensity of fruit farmers, effectively improves picking efficiency, reduces damage to fruit and fruit trees during the picking process, ensures picking quality, and meets the operational needs of automated picking in large-scale orchards.

[0066] In this invention, the control device further includes a memory, a processor, and a control program for a combing and harvesting robot for picking camellia fruits, which is stored in the memory and can run on the processor. The control program for the combing and harvesting robot for picking camellia fruits is configured to implement the steps of the control method for the combing and harvesting robot for picking camellia fruits described above.

[0067] The following is for reference. Figure 7The diagram illustrates a structural schematic of a control device suitable for implementing embodiments of the present invention. The control device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0068] like Figure 7 As shown, the control device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the control device. The processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a control device with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0069] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this invention.

[0070] The control device provided by this invention employs the control method for the combing and harvesting robot for picking camellia oleifera fruits described in the above embodiments, which can solve the technical problems of existing harvesting equipment easily causing damage to fruit trees, branch jamming by comb teeth, and incomplete harvesting during the harvesting process. Compared with the prior art, the beneficial effects of the control device provided by this invention are the same as those of the control method for the combing and harvesting robot for picking camellia oleifera fruits provided in the above embodiments, and other technical features in this control device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0071] It should be understood that the various parts disclosed in this invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0072] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0073] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A sorting and harvesting robot for picking camellia oleifera fruits, characterized in that, include: A movable base, used to move freely on the supporting surface; A navigation structure is provided on the movable base, and the navigation structure is used to collect environmental information and determine the location of the fruit trees; A robotic arm is mounted on the movable base, with one end being movable to form a movable end. The movable end of the robotic arm can move to the position of the fruit. A harvesting component includes a brush structure and a harvesting structure located at the movable end. The brush structure includes multiple comb teeth spaced apart in a first direction. Each comb tooth extends along a second direction and is movable in the second direction. Each comb tooth has a working end in the second direction, and the working ends of adjacent comb teeth are spaced apart in the second direction. The multiple comb teeth are used to comb and gather the fruit. The harvesting structure is located on one side of the brush structure in the third direction and is used to harvest the fruit. A visual positioning structure is provided on the comb structure, and the visual positioning structure is used to scan and position the fruit.

2. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 1, characterized in that, The comb structure also includes: A comb mounting base is provided at intervals from the movable end, and a plurality of comb teeth are movably provided on the comb mounting base; A first driving unit, disposed at the movable end and motive-connected to the comb / brush mounting base, is used to drive the comb / brush mounting base to move in a third direction; and... A connecting portion is provided at a distance from the first driving portion in a second direction, and the two opposite ends of the connecting portion are rotatably connected to the movable end and the comb mounting base along an axis extending in a first direction.

3. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 2, characterized in that, The comb mounting base is provided with a telescopic drive structure, the telescopic drive structure including: A first motor is mounted on the brush mounting base; The gear set includes a driving gear and a plurality of driven gears disposed on the comb mounting base. The driving gear is driven and connected to the first motor to rotate along a third-direction extending axis. The plurality of driven gears are respectively arranged corresponding to a plurality of comb teeth, and each driven gear meshes with at least the driving gear and / or another driven gear to rotate synchronously along the third-direction extending axis; and The crank assembly includes multiple cranks, with each crank having its two ends rotatably connected to a corresponding driven gear and a comb tooth, so that when the driven gear rotates, it drives the corresponding comb tooth to move in a second direction.

4. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 1, characterized in that, The harvesting structure includes: The three-axis drive unit includes multiple second drive units, which are sequentially connected and arranged along a first direction, a second direction and a third direction, respectively, to output drive displacement in the corresponding direction, wherein one of the second drive units is located at the movable end; A cutting part is driven to a second driving part, the cutting part being moved to the fruit stalk position under the drive of a plurality of second driving parts, so as to cut the fruit stalk.

5. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 4, characterized in that, The cutting section includes: A cutting seat, disposed at the driving end of a second driving unit, wherein the cutting seat has a through hole extending along a third direction; and Multiple cutting blades are arranged at intervals around the cutting seat in the circumferential direction, and the multiple cutting blades are synchronously moved along the axial direction close to or away from the through hole, for clamping and cutting the fruit stalks extending into the through hole.

6. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 5, characterized in that, The cutting section further includes: A cutting plate is disposed at one end of the cutting seat in the third direction to clamp a plurality of cutting blades with the cutting seat. The cutting plate is rotatably disposed along an axis extending in the third direction, and has a through hole corresponding to the through hole in the third direction and a plurality of driving holes corresponding to the plurality of cutting blades. The plurality of driving holes extend in the circumferential direction of the cutting seat and are inclined toward the through hole in the circumferential direction of the cutting seat. Each driving hole is arc-shaped toward the through hole. The third driving unit is provided on the cutting seat and is drivingly connected to the cutting plate to drive the cutting plate to rotate along a third-direction extending axis; Each of the cutting blades extends at least partially into the corresponding drive hole to engage with the drive hole.

7. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 6, characterized in that, The cutting seat is provided with a hydraulic groove, which is arranged in an arc shape along the circumference of the cutting seat; The cutting plate is provided with a protrusion corresponding to the hydraulic groove. The protrusion extends at least partially into the hydraulic groove and slides and seals with the groove wall of the hydraulic groove. The protrusion is provided with an injection hole that communicates with the hydraulic groove. The third drive unit includes a hydraulic oil tank, which is connected to the hydraulic groove through the injection hole, and is used to deliver hydraulic oil into the hydraulic groove.

8. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 1, characterized in that, The harvesting robot for picking camellia oleifera fruits also includes a collection structure, which comprises: A collection box, located on the movable base, is used to collect the fruit harvested by the harvesting structure; and, The collection tube is flexibly designed, with one end connected to the collection box and the other end extending to the harvesting structure to receive the fruit harvested by the harvesting structure.

9. The sorting and harvesting robot for picking camellia oleifera fruits as described in claim 8, characterized in that, One end of the collecting tube is gradually widened to form a receiving end, which is configured to correspond to the harvesting structure.

10. A control method for a sorting and harvesting robot used for picking camellia oleifera fruits, characterized in that, Based on the sorting and harvesting robot for picking camellia oleifera fruits as described in any one of claims 1 to 9, the control method of the sorting and harvesting robot for picking camellia oleifera fruits includes: The control navigation structure collects environmental information and the location of the target fruit trees in order to plan the travel route of the sorting and harvesting robot used to pick camellia fruit; Control the movable base to move along the travel route to the target fruit tree location; The visual positioning structure scans and locates multiple fruits; The robotic arm is controlled to move according to the positioning results, so that the moving end corresponds to the fruit. Control multiple comb teeth to comb and gather multiple fruits; Control the harvesting structure to harvest multiple fruits sequentially.

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