A picking robot end effector control system based on a mobile phone app

Abstract

The application discloses a picking machine end effector control system based on a mobile phone App, which comprises a master control, an image acquisition, a wireless communication, a pressure sensing, an effector driving module, and integrates a multi-channel signal conditioning, a hardware interlocking and a power protection circuit. After the sensing analog signal is filtered, amplified and analog-digital converted by the conditioning circuit, it is sent to the master control, and the hardware interlocking realizes the safety constraint of picking action by relying on level interlocking. The image acquisition module acquires the position, size and attitude information of fruits in real time; the wireless communication module builds a two-way channel between the mobile phone and the master control, collects signal strength and transmission delay data, and supports remote control and state monitoring; the pressure sensing module collects clamping pressure and cooperates with a hardware negative feedback loop to automatically adjust the clamping force to prevent the fruits from being damaged and falling off; the effector driving module is provided with an overload protection circuit, and a driving mechanism completes clamping, picking, conveying and attitude adjustment. The master control builds a picking working condition analysis model, fuses image, pressure, communication and circuit multi-source time sequence data, predicts abnormal working conditions and adaptively optimizes control parameters. The application combines hardware circuit protection and software intelligent prediction, realizes remote intelligent and lossless automatic picking, improves picking efficiency and equipment stability, and helps the intelligent development of fruit and vegetable picking.

Description

Technical Field

[0001] This invention relates to the field of end-effector control technology for agricultural harvesting equipment, specifically to an end-effector control system for harvesting machines that integrates signal conditioning and hardware interlocking protection circuits and is based on a mobile app. Background Technology

[0002] With the rapid development of agricultural mechanization and intelligentization, fruit and vegetable harvesting operations are gradually breaking free from the limitations of traditional manual harvesting, and various harvesting machines are widely used in agricultural production. As the core operating component of the harvesting machine, the end effector's control precision and ease of operation directly affect harvesting efficiency, fruit damage rate, and operational safety.

[0003] Currently, most end effector control systems for harvesters employ on-site wired control or dedicated controllers, which have several shortcomings: First, they lack operational flexibility, requiring operators to closely follow the equipment, increasing the risk of safety hazards in complex orchard environments, especially in rugged terrain and densely vegetated orchards, severely limiting the expansion of the operational range; second, the coordination between control modules is insufficient, with image acquisition, pressure monitoring, and action control operating independently, and the sensor analog signals lack standardized circuit preprocessing, often resulting in signal noise and acquisition distortion; furthermore, the absence of hardware automated interlocking circuits leads to mismatches between visual positioning and clamping action timing, easily causing positioning deviations or delayed pressure feedback, resulting in fruit crushing damage and drop; third, the hardware circuit protection design is inadequate. The existing harvesting control system lacks independent power supply regulation, overcurrent and short-circuit protection, and drive power limiting circuits. When the motor stalls, the circuit is short-circuited, or the sensor signal is overloaded, it relies solely on passive software alarms and cannot achieve hardware-level rapid power-off protection. This results in poor equipment operation stability, high maintenance costs, and a persistently high failure rate. Furthermore, the existing harvesting control system can only complete basic action issuance and simple status feedback. It lacks the ability to integrate, analyze, and predict harvesting conditions and circuit operating parameters, making it difficult to identify problems such as sudden changes in clamping force, fruit positioning deviation, wireless signal attenuation, and abnormal circuit voltage and current. The control logic relies solely on fixed thresholds for passive response, resulting in insufficient reliability in condition analysis. This can easily lead to harvesting errors, fruit damage, equipment jamming and shutdown, further reducing the overall harvesting efficiency of the orchard.

[0004] Therefore, developing an end-effector control system that integrates a complete set of signal conditioning, power supply protection, and hardware automation interlocking circuits, enabling remote control via mobile app, multi-module and circuit parameter fusion analysis, multi-hardware collaborative automated operation, and non-destructive fruit harvesting, and solving multiple defects of existing technologies, is a technical problem that urgently needs to be solved in the field of agricultural harvesting equipment. Summary of the Invention

[0005] 1. Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a mobile app-based end effector control system for harvesting machines. It features remote wireless control, hardware circuit safety protection, intelligent prediction of multi-source data, non-destructive automated harvesting, and strong operational stability. It solves the problems of limited control, distorted signal acquisition, lack of underlying hardware interlock protection, inability to predict circuit and harvesting abnormalities in advance, easy crushing damage to fruits, and high equipment failure rate of traditional harvesting equipment.

[0007] (II) Technical Solution

[0008] To achieve the aforementioned goals of non-destructive intelligent harvesting, remote and stable control, and early warning of equipment failure, this invention provides the following technical solution: a harvester end effector control system based on a mobile app, comprising: a main control module, a whole machine power supply protection circuit, a multi-channel signal conditioning circuit, a hardware automatic interlocking circuit, and an image acquisition module, a wireless communication module, a pressure sensing module, and an actuator drive module electrically connected to the main control module.

[0009] Preferably, the overall power supply protection circuit includes a lithium battery pack, a multi-channel step-down voltage regulator sub-circuit, a reverse connection protection circuit, and an overcurrent fuse protection branch, which provide matching rated voltages for the main control module, image acquisition module, pressure sensing module, wireless communication module, and actuator drive module, respectively. Each power supply branch integrates voltage and current sampling loops to collect circuit operating parameters in real time and transmit them to the main control module.

[0010] Preferably, the multi-channel signal conditioning circuit is connected to the analog output signals of the image acquisition unit and the pressure sensor respectively, and integrates filtering, instrumentation amplification and analog-to-digital conversion sub-circuits to eliminate long-distance transmission noise and unify the signal amplitude before sending it to the main control module.

[0011] Preferably, the hardware automated interlocking circuit uses optocouplers and relays to build a hardware level interlocking loop, with a preset hardware triggering sequence of "image recognition valid → pressure signal normal → drive action allowed". When there is no fruit target in the image, the pressure sensing circuit fails, or the power supply branch is overcurrent, the hardware circuit directly locks the actuator drive output, blocking dangerous clamping actions without software intervention, thus achieving low-level automated safety protection. The full-sequence circuit characteristic data collected by the power supply, conditioning, and interlocking circuits are synchronously entered into the main control module's harvesting condition change analysis model as the operating condition data source.

[0012] Preferably, the main control module is the core of the control system, with peripheral digital level conversion circuits and hardware interrupt scheduling circuits. It is used to receive signals transmitted by various modules and circuits, parse control commands sent by the mobile terminal, and send action commands to each execution module to achieve coordinated scheduling of the entire control system. Relying on the hardware interrupt channel, it automatically collects image, pressure, communication, and circuit parameter data in parallel without software polling, ensuring orderly connection and synchronous operation of all links such as image acquisition, pressure monitoring, circuit status verification, and execution actions. At the same time, based on the image data, pressure sensing data, and equipment operation data collected throughout the entire chain, it statistically analyzes multiple working condition indicators such as fruit positioning accuracy, average clamping pressure, equipment response delay, and circuit load fluctuation within the corresponding time period, and builds a harvesting working condition change analysis model. Based on real-time data acquisition, it continuously optimizes the internal parameters of the model, improves the accuracy and reliability of analyzing various harvesting working conditions and circuit abnormal changes, predicts problems such as positioning offset, abnormal clamping pressure, communication lag, actuator failure, and circuit overload and short circuit, and dynamically outputs the optimized control parameters of each module and circuit.

[0013] Preferably, the image acquisition module includes an image acquisition unit and a mounting bracket; the image acquisition unit is mounted on the mounting bracket, which is adapted to be installed at a preset position on the end effector of the harvester, and the installation angle and height can be adjusted according to the needs of the harvesting scenario to ensure that the image acquisition unit can accurately capture the image of the fruit to be harvested; the analog output terminal of the image acquisition unit is connected to a dedicated signal conditioning circuit to complete noise reduction and analog-to-digital conversion; the circuit has a built-in photoelectric trigger automatic acquisition loop, and the hardware automatically triggers high-definition capture when the fruit enters the framing range.

[0014] Preferably, the image acquisition unit is used to detect the position, size, and growth posture of the fruit to be harvested in real time, and transmits the image data, which has been preprocessed by the conditioning circuit, to the main control module. The main control module analyzes and judges the fruit's maturity, spatial location, and suitable harvesting conditions to determine the optimal harvesting time. It then transmits the harvesting time, real-time images, and equipment operating status to the mobile terminal via the wireless communication module, providing decision-making support for the operator. Based on the real-time scene information displayed on the mobile terminal and the harvesting time determined by the system, the operator sends control commands for clamping, harvesting, and conveying via the mobile phone. These commands are transmitted back to the main control module via the wireless communication module. The main control module adjusts the attitude of the end effector and performs corresponding actions based on its own determined harvesting time and the manual control commands sent from the mobile terminal, avoiding harvesting errors or plant damage caused by positioning deviations.

[0015] Image feature data, signal-to-noise ratio of image circuit, and transmission loss parameters output by the image acquisition unit are synchronously entered into the working condition analysis model of the main control module, serving as the core data source for predicting fruit positioning deviation, branch and leaf occlusion interference, and image acquisition circuit failure.

[0016] Preferably, the wireless communication module includes a communication chip and a signal transmission unit; the communication chip is electrically connected to the main control module, and the signal transmission unit is integrated with the communication chip. This integrated design can reduce the module size, reduce line connections, and improve the stability of module operation; a level conversion isolation circuit is configured between the communication chip and the main control module to suppress digital signal crosstalk.

[0017] Preferably, the wireless communication module establishes a two-way communication connection with both the mobile terminal and the main control module to realize the transmission of control commands, equipment operating status and real-time data of the picking scene between the mobile terminal and the main control module. On the one hand, it transmits the control commands such as clamping, picking and conveying sent by the operator through the mobile phone to the main control module. On the other hand, it feeds back the operating status of each module, the real-time images captured by the image acquisition unit, the pressure data collected by the pressure sensing module, and the voltage and current of each branch circuit to the mobile terminal, so as to realize the dual functions of remote control and real-time monitoring.

[0018] Preferably, the signal strength and transmission delay data collected in real time by the wireless communication module are synchronously fed into the main control module. This is used by the model to identify the types of operating condition changes such as signal fluctuations and long-distance transmission lag, and to assist the system in adjusting the communication transmission power in advance to ensure the stability of the remote control link.

[0019] Preferably, the pressure sensing module includes a pressure sensor and a fixing component; the pressure sensor is installed on the clamping part of the end effector through the fixing component, which is made of corrosion-resistant and tough material, to ensure that the pressure sensor is stably installed and not easily detached during the harvesting operation, and does not affect the clamping action of the end effector.

[0020] Preferably, the pressure sensor output is connected to a dedicated instrument amplification and low-pass filtering signal conditioning circuit, and the conditioning circuit output is connected to the main control hardware negative feedback automatic adjustment loop. The pressure sensor is electrically connected to the main control module and is used to collect the contact pressure signal between the end effector and the fruit. After preprocessing by the conditioning circuit, it is transmitted to the main control module in real time. The hardware negative feedback loop can directly output a limiting level constraint drive output when the pressure exceeds the safety threshold. In conjunction with the main control module, the clamping force is adjusted secondaryly according to the preset pressure threshold. If the pressure is too high, the actuator drive module is controlled to reduce the clamping force; if the pressure is insufficient, the clamping force is increased, thereby avoiding fruit damage or drop and ensuring harvesting quality.

[0021] All time-series pressure data, conditioning circuit output amplitude, and circuit noise data are synchronously entered into the main control module. The main control module integrates pressure data from multiple time periods based on the working condition analysis model, distinguishes different causes of pressure anomalies such as differences in fruit skin hardness, clamping position offset, sensor obstruction by foreign objects, and sensor circuit drift, outputs standardized pressure working condition analysis results, and actively optimizes clamping force adjustment parameters to reduce the probability of fruit crushing and damage.

[0022] Preferably, the actuator drive module includes a drive chip, terminals, a power drive circuit, and a hardware overload protection circuit; the drive chip is electrically connected to the main control module and is used to receive action commands sent by the main control module and convert the commands into drive signals; the terminals are electrically connected to the drive chip and the drive motor and clamping actuator of the harvester, respectively, serving as a bridge for signal and power transmission; the power drive circuit is equipped with a freewheeling diode and a current sampling resistor, and the hardware overload protection circuit samples the motor output current in real time;

[0023] Preferably, the actuator drive module is used to receive instructions from the main control module, drive the drive motor and the clamping actuator to perform actions, control the end effector to complete clamping, picking, conveying and posture adjustment actions, accurately respond to the scheduling instructions of the main control module, and ensure that the picking operation is completed efficiently; when the circuit sampling identifies motor stall, short circuit, or drive overload, the hardware circuit immediately cuts off the power output and simultaneously uploads the current surge circuit characteristics to the main control.

[0024] Preferably, the operating data output by the actuator drive module, such as motor speed, actuator stroke, response time, and drive branch current and voltage, are synchronously uploaded to the main control module to participate in the analysis of changes in the working condition model. This accurately identifies abnormal operating conditions of the equipment, such as motor jamming, actuator sticking, and drive circuit failure, and assists the system in adjusting the drive output power in advance to avoid motion failure problems.

[0025] (III) Beneficial Effects

[0026] Compared with existing technologies, this invention provides a mobile app-based remote-controlled harvester end effector control system that integrates power supply protection, signal conditioning, and hardware interlocking circuits, and has the following beneficial effects:

[0027] This invention adds a complete set of hardware circuits, including whole-machine power supply voltage regulation protection, multi-channel signal conditioning, and hardware automatic interlocking, to solve the defects of traditional equipment such as lack of underlying circuit protection, analog signal distortion, and action timing conflicts. Through optocoupler and relay hardware interlocking, it realizes automatic locking of clamping action in fault conditions. The power supply and drive circuit has overcurrent and short circuit hardware power-off capabilities, forming a dual-layer safety mechanism of "hardware circuit active protection + software model intelligent prediction", which greatly reduces the risk of fruit damage and equipment burnout.

[0028] This invention enables bidirectional communication between the mobile terminal and the main control module through a wireless communication module. Operators do not need to follow the harvester closely. They can remotely send control commands and view the operation status in real time through a mobile app, which effectively reduces the intensity of manual labor and avoids safety hazards in complex operating environments. It is suitable for various orchard harvesting scenarios.

[0029] This invention uses a main control module as its core, coordinating the collaborative work of four major modules: image acquisition, wireless communication, pressure sensing, and actuator driving. Image acquisition, through a conditioning circuit, provides precise positioning; pressure sensing relies on hardware negative feedback to ensure non-destructive clamping; and the actuator driving, equipped with a power protection circuit, achieves precise action. The hardware circuits and software logic of each component are seamlessly integrated, effectively solving the problems of independent operation of modules, poor coordination, signal distortion, and lack of hardware protection in existing systems. Simultaneously, the main control module integrates multi-dimensional time-series data from all modules to construct a harvesting condition analysis model, enriching the data basis for condition analysis and significantly improving the reliability of analyzing various harvesting anomalies and circuit faults, reducing the probability of misjudgments and missed diagnoses.

[0030] The image acquisition module of this invention, equipped with a photoelectric automatic capture circuit, accurately captures fruit information and avoids positioning deviations; the pressure sensing module uses a dedicated conditioning circuit to stably collect pressure and, combined with a working condition model, distinguishes the causes of abnormal pressure, preventing fruit damage or drop; the actuator drive module integrates a hardware overload protection circuit to precisely control the execution action, and relies on working condition prediction to avoid equipment malfunctions in advance, realizing the integration of clamping, picking, and conveying, which greatly improves picking efficiency and fruit qualification rate.

[0031] Each module of this invention adopts a "core component + auxiliary component" structural design, equipped with standardized power supply and signal circuits. The wireless communication module is integrated, making installation convenient and wiring simple. This not only reduces equipment maintenance costs but also improves the operational stability of the entire control system and extends equipment lifespan. Based on intelligent operating condition analysis logic using multi-source data fusion, the system upgrades from passive threshold response to automatic hardware circuit protection plus model-based pre-prediction and adaptive adjustment, significantly reducing the frequency of downtime during orchard harvesting operations and improving overall harvesting and access efficiency. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall hardware structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the hardware signal transmission process of the present invention. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-2 , Figure 1A schematic diagram of a harvester end effector control system based on a mobile app, provided as an embodiment of the present invention, is shown below. Figure 1 This embodiment discloses a harvester end effector control system based on a mobile app, comprising: a main control module 1, a whole-machine power supply protection circuit 6, a multi-channel signal conditioning circuit 7, a hardware automatic interlocking circuit 8, and an image acquisition module 2, a wireless communication module 3, a pressure sensing module 4, and an actuator drive module 5 electrically connected to the main control module. The image acquisition module 2 is mounted on the harvester end effector, and the pressure sensing module 4 is mounted on the clamping part of the end effector. The wireless communication module 3 is communicatively connected to both the mobile terminal and the main control module 1. The actuator drive module 5 is electrically connected to the main control module 1. The whole-machine power supply protection circuit 6 provides stable power supply to the main control module and each module and provides short-circuit and overcurrent protection. The multi-channel signal conditioning circuit 7 is connected to the analog output terminals of the image acquisition module 2 and the pressure sensing module 4, respectively. The hardware automatic interlocking circuit 8 is connected to the front-end control loop of the actuator drive module 5 to achieve hardware locking of the action.

[0036] This invention enables data transmission and remote control via a mobile app. The image acquisition unit in image acquisition module 2 captures images of the fruit's position and size, which are then denoised by a signal conditioning circuit before being sent to the main control unit. Pressure sensing module 4 collects clamping pressure in real time, achieving automatic force constraint through a hardware negative feedback loop. The power supply, interlocking, and drive power circuits collect circuit operating parameters in real time and upload them to the main control unit. The main control module 1 integrates multi-source data analysis models of images, pressure, communication, and circuits to predict various harvesting and circuit anomalies, achieving layered control of the end effector's clamping, harvesting, and conveying processes. Combined with the real-time hardware feedback control of actuator drive module 5 and pressure sensing module 4, the harvesting process is highly efficient and safe. The complete working process is as follows: Figure 2 As shown.

[0037] Through the above embodiments, the harvester end effector control system based on a mobile app, relying on a complete set of signal conditioning, power supply protection, and hardware automated interlocking circuits, combined with a main control intelligent working condition analysis model, can achieve remote control, automatic hardware safety protection, efficient and non-destructive harvesting, and real-time monitoring of equipment and circuit status. Through the collaborative work of multiple modules, it ensures efficient, low-loss, and accurate pear harvesting, shedding, and collection, improving the efficiency of pear harvesting and significantly enhancing the level of automation in pear harvesting machinery.

[0038] The above description is merely a specific embodiment of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this invention should be included within the protection scope of this invention. The protection scope of this invention should be determined by the scope of the claims.

Claims

1. A harvester end effector control system based on a mobile app, comprising a main control module and an image acquisition module, a wireless communication module, a pressure sensing module, and an actuator drive module electrically connected to the main control module; The image acquisition module is installed on the end effector of the harvester to detect the position and posture information of the fruit to be harvested in real time; the wireless communication module is connected to the mobile terminal and the main control module respectively to realize information transmission between the two; the pressure sensing module is installed on the clamping part of the end effector to collect the contact pressure between the end effector and the fruit; the actuator drive module is electrically connected to the main control module to control the end effector to complete clamping, harvesting and other actions; the main control module builds a harvesting working condition change analysis model, matches similar historical harvesting scenarios to analyze the current working condition change type and degree, predicts positioning offset, clamping pressure abnormality, communication blockage, actuator failure working condition in advance, and dynamically optimizes the control parameters of each module; The system is equipped with a multi-channel signal conditioning circuit and a hardware automated interlocking circuit. The signal conditioning circuit connects to the image acquisition analog signal and the pressure sensing analog signal respectively, and sends them to the main control after filtering, amplification, and analog-to-digital conversion preprocessing. The hardware automated interlocking circuit builds an interlocking loop through relays and optocoupler isolation devices, which automatically restricts the actuator from clamping when the fruit image is not recognized or the pressure sensor fails. It realizes safe and automated constraints on the picking action from the circuit bottom layer. The circuit operating voltage, current and impedance parameters are synchronously used as working condition characteristics input into the picking working condition change analysis model.

2. The harvester end effector control system based on a mobile app as described in claim 1, characterized in that: The main control module is the core of the control system. It is used to receive signals transmitted by each module, parse control commands sent by the mobile terminal, and send action commands to each execution module to realize the coordinated scheduling of the entire control system. This ensures that the image acquisition, pressure monitoring, and action execution are connected in an orderly manner and run synchronously. Based on the image data, pressure sensing data, and equipment operation data collected throughout the entire process, a harvesting condition change analysis model is constructed. The main control module is peripherally configured with analog signal conditioning circuits, digital level conversion circuits, and optocoupler isolation output drive circuits; the main control module is equipped with hardware automatic interrupt scheduling logic, which relies on the circuit hardware interrupt channel to realize parallel automatic acquisition of image, pressure, and communication data without the need for software polling. Meanwhile, the main controller uses programmable logic units to solidify automated fault power-off logic. When the circuit detects overvoltage, short circuit, or drive overload, it automatically cuts off the power supply to the corresponding module. Circuit fault data is synchronously included in the operating condition model analysis, realizing dual-layer automated fault prediction of hardware circuits and software models.

3. The harvester end effector control system based on a mobile app as described in claim 1, characterized in that: The image acquisition module includes an image acquisition unit and a mounting bracket; the image acquisition unit is mounted on the mounting bracket, and the mounting bracket is installed at a preset position of the end effector of the harvester. The image acquisition unit is used to detect the location, size, and growth posture of the fruit to be picked in real time, and transmits the acquired image data to the main control module. The main control module analyzes and judges the picking status to determine the best picking time. The image feature data output by the image acquisition unit is synchronously entered into the analysis model of the main control module, and the analysis results are synchronously uploaded to the mobile terminal via the wireless communication module to provide operators with a basis for picking decisions. The image acquisition unit is equipped with an integrated analog front-end filtering circuit, a high-speed AD conversion circuit, and a differential signal transmission circuit to reduce image noise during long-distance transmission. The circuit has a built-in photoelectric trigger automatic acquisition loop. When a fruit target is detected, the hardware circuit automatically triggers high-definition image capture without the need for the main control to issue acquisition commands. The transmission loss and signal-to-noise ratio parameters of the acquisition circuit are uploaded to the main control in real time as a basis for judging the working condition.

4. The harvester end effector control system based on a mobile app as described in claim 1, characterized in that: The wireless communication module includes a communication chip and a signal transmission unit; the communication chip is electrically connected to the main control module, and the signal transmission unit is integrated with the communication chip. The wireless communication module establishes bidirectional communication connections with both the mobile terminal and the main control module, enabling the transmission of control commands, equipment operating status, and real-time data on the harvesting scene between the mobile terminal and the main control module, thus achieving remote control and real-time monitoring. The signal strength and transmission delay data collected in real time by the communication module are synchronously fed into the main control module, assisting the system in ensuring stable remote control.

5. The harvester end effector control system based on a mobile app as described in claim 1, characterized in that: The pressure sensing module includes a pressure sensor and a fixing component. The pressure sensor is installed on the clamping part of the end effector via the fixing component and is electrically connected to the main control module. The pressure sensor is used to collect the contact pressure signal between the end effector and the fruit and transmit the pressure signal to the main control module in real time. The main control module then adjusts the clamping force autonomously. All time-series pressure data are synchronously entered into the main control module. The main control module's analysis model integrates pressure data from multiple time periods and actively optimizes the clamping force to prevent fruit damage or drop. The pressure sensor back-end series instrument amplification circuit, low-pass filter circuit, and analog-to-digital conversion circuit constitute the sensing signal conditioning circuit; the output of the conditioning circuit is connected to the main control closed-loop automatic adjustment loop to form hardware-level pressure negative feedback automatic control. When the circuit detects that the pressure exceeds the safety threshold, the hardware circuit directly outputs the limiting level to limit the drive output, which takes precedence over the software to complete the automatic protection of clamping pressure. The entire process circuit sampling timing data is entered into the working condition model to optimize the automatic pressure adjustment logic.

6. The harvester end effector control system based on a mobile app as described in claim 1, characterized in that: The actuator drive module includes a drive chip and terminals; the drive chip is electrically connected to the main control module, and the terminals are electrically connected to the drive chip and the motor and clamping actuator of the harvester, respectively; the actuator drive module is used to receive instructions from the main control module, drive the motor and clamping actuator to move, and control the end effector to complete clamping, harvesting, conveying and posture adjustment actions; the data output by the actuator drive module is synchronously uploaded to the main control module to participate in the analysis of the working condition model, identify abnormal working conditions, and assist the system in handling action failure problems; The power drive circuit consists of a power amplifier circuit, a freewheeling protection diode, and a current sampling resistor surrounding the driver chip. The circuit integrates a hardware-automated overload protection circuit, which samples the motor output current in real time. When circuit abnormalities such as stall or short circuit occur, the power output is automatically shut off, and the circuit characteristic data of the current surge is uploaded to the main control operating condition model to automatically identify actuator jamming faults.

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