An automatic crop collecting device

Abstract

This utility model discloses an automatic crop harvesting device, belonging to the field of automated crop harvesting technology. The utility model includes a carrier and a support plate mounted on the carrier's bearing surface. The carrier is a motorized vehicle. A support and a drive assembly are mounted on the support plate to move the support along the length of the support plate. A picking component and a collecting component are connected to the mounting surface of the support. The picking component cuts the crop's rootstock; the collecting component below the picking component collects the cut fruit. In practical use, the support plate provides an installation platform for the support and drive assembly. The drive assembly enables the support to move along the length of the support plate. The picking component is responsible for cutting the rootstock of the cucurbitaceous crop, separating the fruit from the plant. The collecting component collects the fruit promptly after cutting. With the cooperation of the carrier, picking and collecting are integrated into one unit. This solves the technical problem of low picking and collecting efficiency of cucurbitaceous crops in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of automated crop harvesting technology, and more specifically to an automated crop collection device. Background Technology

[0002] Crop harvesting devices are a common type of agricultural machinery. In today's rapidly modernizing agriculture, these devices are gradually replacing traditional manual labor, greatly improving agricultural production efficiency and crop harvesting quality.

[0003] In existing technologies, when harvesting cucurbitaceous crops, most methods use collection devices with shearing mechanisms to cut and harvest the roots and stems of the crops. This often requires manual assistance, and workers need to adjust their standing height and posture in real time, making it impossible to harvest for extended periods. However, harvesting with robotic arms combined with shearing mechanisms faces problems such as difficulty in cutting roots and stems, poor flexibility, and low harvesting and collection efficiency.

[0004] A search revealed that invention patent CN201811425531.X discloses a trellis-type Trichosanthes kirilowii harvesting machine, which optimizes the harvesting process. However, in the basic steps of harvesting, collecting, drying, extracting seeds, and drying the Trichosanthes kirilowii peel, a water tank is used for buffering, causing the mature harvested Trichosanthes kirilowii to be soaked in water, increasing the risk of loss of medicinal properties and spoilage. Furthermore, its implementation requires significant operator intervention. Utility Model Content

[0005] 1. The technical problem to be solved by the utility model:

[0006] To address the problem of low efficiency in crop harvesting and collection in existing technologies, this utility model provides an automatic crop collection device that integrates harvesting and collection into one unit with the assistance of a carrier, thereby improving the efficiency of the processing steps and shortening the harvesting time after the crops have matured.

[0007] 2. Technical Solution:

[0008] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0009] An automated crop harvesting device includes a carrier and a support plate mounted on the carrier's bearing surface. The carrier is a mobile vehicle, such as an existing wheeled drive platform, robot, or robotic dog. The support plate is equipped with a support and a drive assembly that moves the support along the length of the support plate. A harvesting component and a collecting component are connected to the mounting surface of the support. The harvesting component cuts the crop's rootstock; the collecting component below the harvesting component collects the cut fruit. In practical use, the support plate serves as the basic support structure of the entire device, providing a mounting platform for the support and drive assembly. The drive assembly enables the support to move along the length of the support plate, allowing the harvesting and collecting components mounted at the front end of the support to flexibly reach different crop locations. The harvesting component cuts the rootstock of cucurbitaceous crops, separating the fruit from the plant. The collecting component collects the fruit promptly after cutting, preventing it from falling to the ground and causing loss. This structural design integrates harvesting and collecting functions, and through the coordinated movement of the support and carrier, it improves the device's adaptability to different crop locations.

[0010] A further technical solution involves a drive assembly comprising a guide rail, a rack, a slider, a first motor, a motor bracket, and a gear. The guide rail and rack are both mounted parallel to each other on the upper surface of the support plate. The slider is mounted on the bottom of the support and slidably fitted onto the guide rail. The first motor is mounted on one side of the support via a motor bracket, and the gear is mounted on the output end of the first motor and meshes with the rack. The guide rail and rack are mounted parallel to each other on the upper surface of the support plate. The guide rail provides stable guidance for the movement of the support, ensuring that the support can only move along the direction of the guide rail and avoiding deviation. The slider is mounted on the bottom of the support and slides along the guide rail, making the movement of the support smoother and more stable. The first motor is fixed to one side of the support via a motor bracket, providing power to the entire drive assembly. When the first motor starts, the gear at its output end rotates accordingly. Because the gear meshes with the rack, the rotation of the gear is converted into linear motion along the rack, thereby driving the support to move along the guide rail. This structural design is simple and reliable. Through motor-driven gear and rack transmission, the moving speed and position of the support can be precisely controlled, meeting the needs of different harvesting and collection operations.

[0011] A further technical solution involves a harvesting assembly comprising a second motor and a cutting blade. The second motor is mounted on the upper end of the support, and a bushing is installed at the output end of the second motor. The cutting blade is mounted on the bushing through a D-shaped hole and secured with fasteners. The second motor, mounted on the upper end of the support, provides rotational power to the cutting blade. The bushing at its output end is used to mount the cutting blade. The D-shaped hole design allows the cutting blade to fit tightly with the bushing, ensuring that there is no relative slippage during rotation. The use of fasteners to secure the cutting blade further enhances the stability of the connection, preventing the blade from loosening when cutting crop roots and stems, thus affecting the harvesting effect. When the second motor starts, the cutting blade rotates at high speed, which can quickly and effectively cut the roots and stems of cucurbitaceous crops, achieving automated harvesting and improving harvesting efficiency.

[0012] A further technical solution includes a collection component comprising a drive servo motor, a transmission mechanism, a connecting block, and a collection net. The drive servo motor is mounted at the bottom front end of the support, and the collection net is mounted at one end of the connecting block. The other end of the connecting block is connected to the output end of a dual-axis servo motor via the transmission mechanism. The drive servo motor drives the collection net forward and backward, and during the forward and backward movements, the collection net moves up and down respectively. The drive servo motor, mounted at the bottom front end of the support, is the power source for the movement of the collection component. It is connected to the connecting block via the transmission mechanism, and the connecting block is fixed to the collection net. When the drive servo motor is working, its output rotation is converted into the movement of the connecting block through the transmission mechanism, thereby driving the collection net forward or backward. During this process, the collection net also moves up and down respectively. This movement method can better adapt to the collection needs of fruits at different heights.

[0013] For example, when the fruit is high up, the collecting net moves forward and upward to catch the fruit; when the fruit is low up, the collecting net moves backward and downward to ensure that no fruit is missed, thus improving the comprehensiveness and accuracy of the collection.

[0014] A further technical solution includes a drive servo motor comprising a first servo motor and a second servo motor. The first servo motor and the second servo motor are mounted on the front bottom of the support via a mounting bracket. The transmission mechanism includes a connecting rod and a rocker arm. The first end of the connecting rod is hinged to the first end of the rocker arm. The second end of the connecting rod is mounted on the output end of the first servo motor. The second end of the rocker arm is mounted on the output end of the second servo motor. The third end of the rocker arm is fixed to the end of the connecting block away from the collecting net.

[0015] Two drive servos, namely the first servo and the second servo, are mounted on the bottom front end of the support via a mounting bracket, ensuring installation stability. A transmission mechanism consisting of a connecting rod and a rocker arm combines and converts the rotation of the two servos. When the first servo rotates, the connecting rod mounted on its output end moves accordingly, driving the rocker arm hinged to it to rotate. At the same time, the rotation of the second servo also affects the movement of the rocker arm. The third end of the rocker arm is fixed to the connecting block, ultimately achieving precise control of the connecting block and the collection net. This design of dual servos and a special transmission mechanism enables the collection net to achieve more complex and flexible movement trajectories, better adapting to the different distribution of cucurbitaceous crop fruits and improving collection efficiency.

[0016] A further technical solution is that the joystick is L-shaped, with the right-angle end of the L-shape being the first end and hinged to the connecting rod, the free end of the long arm of the L-shape being the second end and connected to the output end of the second servo, and the free end of the short arm of the L-shape being the third end and fixed to the end of the connecting block by screws.

[0017] The L-shaped rocker arm design allows the power of the two servos to be effectively transmitted and converted into specific movements of the connecting block. The right-angle end is hinged to the connecting rod, making it easy to receive the movement transmitted by the connecting rod. The free end of the long arm is connected to the output end of the second servo, ensuring that the rotation of the second servo can affect the movement of the rocker arm. The free end of the short arm is fixed to the connecting block with screws, accurately transmitting the movement of the rocker arm to the connecting block, thereby driving the movement of the collection net. This shape design optimizes the transmission structure, making the movement of the collection net more precise and stable, and adapting to different harvesting and collection scenarios.

[0018] A further technical solution involves using dual-axis servos for both the first and second servos, with two transmission mechanisms symmetrically distributed on both sides of the dual-axis servos. Using dual-axis servos as the drive component provides more powerful and flexible power output. The symmetrical distribution of the two transmission mechanisms on both sides of the dual-axis servos ensures more even force distribution on the collection net during movement, guaranteeing stable movement. The symmetrical transmission structure on both sides allows for more precise control of the collection net, such as maintaining better balance when the net moves forward, backward, up, or down, preventing tilting or swaying, improving the reliability and stability of the collection, and ensuring that the fruit does not easily fall off during collection.

[0019] A further technical solution involves a hemispherical bowl-shaped collection net with its opening facing upwards. The net has evenly distributed small holes to screen out particulate impurities generated during cutting. This hemispherical bowl shape allows for better collection of fruits cut from the plant, and its design conforms to the shape characteristics of cucurbitaceous fruit, increasing the collection area and success rate while effectively preventing fruit drop. The evenly distributed small holes serve multiple purposes: firstly, during collection, rainwater can drain away promptly, preventing water accumulation in the net and affecting fruit quality; secondly, the holes allow impurities such as soil and broken leaves to drain, ensuring clean and tidy collected fruit and improving its quality.

[0020] A further technical solution is that a visual recognition module for identifying the position of crop fruits is installed on the end face of the front end of the support. The visual recognition module is preferably an ESP32 visual recognition module. A robotic arm for assisting shearing is installed on the upper end face of the rear end of the support.

[0021] The visual recognition module is installed at the front end of the support and can identify the location information of crop fruits in real time. It can use image recognition technology to quickly and accurately determine the position, size and other parameters of the fruits, providing accurate positioning data for the picking and collecting components, making automated picking and collecting operations more accurate and efficient.

[0022] The robotic arm is installed on the upper end of the rear end of the support. During the harvesting process, it can assist the cutting blade in cutting the crop roots and stems.

[0023] A further technical solution is that the support plate is an L-shaped plate with its inner right-angled surface facing upwards. The drive component is installed on the inner wall of the long side of the L-shape of the support plate, and a controller is installed on the outer wall of the short side of the L-shape of the support plate. The controller is a conventional controller, which can control the start, stop and movement of the drive component, the picking component, the collecting component, the vision recognition module and the robot arm.

[0024] The L-shaped support plate design increases the stability of the device, and the upward-facing inner right-angled surface can better adapt to different working scenarios, such as placing it in a corner of a field. The drive component is installed on the inner wall of the long side of the L-shape, making reasonable use of space and facilitating the movement of the drive support along the support plate.

[0025] 3. Beneficial effects

[0026] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0027] (1) The automatic crop collection device of this utility model drives the support to move along the support plate through the drive component, so that the picking component and the collection component installed at the front end of the support can quickly locate the crop position. The first motor in the drive component drives the gear and the rack to mesh, so as to realize the stable movement of the support. The second motor of the picking component drives the cutting blade to quickly cut the crop roots and stems, and the drive servo motor of the collection component controls the collection net to collect the fruit. The whole process is highly automated, greatly reducing manual operation, realizing efficient collection of crops, reducing the economic loss caused by crops falling to the ground, greatly improving the efficiency of picking and collecting cucurbit crops, and reducing the risk of trampling by manual operation.

[0028] (2) The automatic crop collection device of this utility model is movable by a support carried by a motor vehicle. The picking component and the collection component are installed at its front end and can be flexibly adjusted. The transmission mechanism of the collection component makes the collection net move up and down respectively during the forward and backward process, which is convenient for collecting fruits at different heights and positions. At the same time, the visual recognition module at the front end of the support can identify the position of the crop fruit, providing accurate positioning for picking and collecting. The robotic arm assists in cutting, which further enhances the picking ability of the device in complex environments, adapts to the growth characteristics of cucurbit crops, realizes accurate and efficient picking, and effectively reduces the damage to cucurbit crops, saves labor costs and shortens the collection cycle, and indirectly improves the overall quality of cucurbit crops.

[0029] (3) The automatic crop collection device of this utility model has a collection net designed as a hemispherical bowl-shaped structure with the opening facing upwards, and also has evenly distributed small holes. This structure is conducive to collecting fruits and preventing fruits from falling. At the same time, the small holes allow rainwater or impurities to be discharged, ensuring the quality of the collected crops. The drive servo motor controls the movement of the collection net so that it can better receive the cut fruits, improving the integrity and reliability of the collection. Attached Figure Description

[0030] Figure 1 This is a three-dimensional structural diagram of an automatic crop collection device according to a specific embodiment;

[0031] Figure 2 This is a schematic diagram of the structure of the driving component in a specific embodiment;

[0032] Figure 3 This is a schematic diagram of the harvesting component in a specific embodiment;

[0033] Figure 4 This is a schematic diagram of the collection component in a specific embodiment.

[0034] Figure descriptions: 1. Support plate; 2. Support; 3. Drive assembly; 31. Guide rail; 32. Rack; 33. Slider; 34. First motor; 35. Motor bracket; 36. Gear; 4. Harvesting assembly; 41. Second motor; 42. Cutting blade; 5. Collection assembly; 51. First servo motor; 52. Second servo motor; 53. Mounting bracket; 54. Linkage rod; 55. Rocker arm; 56. Connecting block; 57. Collection net; 6. Vision recognition module; 7. Robotic arm; 8. Controller. Detailed Implementation

[0035] To further understand the content of this utility model, a detailed description of the utility model is provided in conjunction with the accompanying drawings.

[0036] Example 1

[0037] The automatic crop harvesting device of this embodiment includes a carrier and a support plate 1 mounted on the carrier's bearing surface. The carrier is a mobile vehicle, such as an existing wheeled drive platform, robot, or robotic dog. Figure 1 As shown, a support plate 1 is equipped with a support 2 and a drive assembly 3 that drives the support 2 to move along the length of the support plate 1; a picking assembly 4 and a collecting assembly 5 are connected to the mounting surface of the support 2; the picking assembly 4 cuts the crop roots and stems; the collecting assembly 5 below the picking assembly 4 collects the cut fruits.

[0038] like Figure 2 As shown, the drive assembly 3 includes a guide rail 31, a rack 32, a slider 33, a first motor 34, a motor bracket 35, and a gear 36. The guide rail 31 and the rack 32 are installed in parallel on the upper surface of the support plate 1, providing a stable guide and power transmission path for the movement of the support 2. The slider 33 is installed at the bottom of the support 2 and slides in cooperation with the guide rail 31 to ensure that the support 2 moves smoothly. The first motor 34 is fixed to one side of the support 2 through the motor bracket 35, and the gear 36 at its output end meshes with the rack 32.

[0039] When the first motor 34 starts, the gear 36 rotates, driving the support 2 to move along the guide rail 31 in the length direction of the support plate 1. The position and speed of the support 2 can be precisely controlled, so that the picking component 4 and the collecting component 5 installed at the front end of the support 2 can quickly locate the crop.

[0040] like Figure 1 and Figure 3As shown, the harvesting component 4 is installed at the front end of the support 2 and mainly consists of a second motor 41 and a cutting blade 42. The second motor 41 is installed at the upper end of the support 2, and a bushing is installed at its output end. The cutting blade 42 is installed on the bushing through a D-shaped hole and is fixed by fasteners. This connection method ensures the stability of the cutting blade 42 during rotation and prevents loosening. When the second motor 41 is started, the cutting blade 42 rotates at high speed, which can quickly and effectively cut the roots and stems of cucurbit crops, realize automated harvesting, and improve harvesting efficiency.

[0041] like Figure 4 As shown, the collection component 5 is also located at the front end of the support 2, and consists of a drive servo, a transmission mechanism, a connecting block 56, and a collection net 57. The drive servo includes a first servo 51 and a second servo 52, which are mounted on the bottom front end of the support 2 via a mounting bracket 53. The transmission mechanism consists of a connecting rod 54 and a rocker arm 55. The two transmission mechanisms are symmetrically distributed on both sides of the dual-axis servo. One end of the connecting rod 54 is connected to the output end of the first servo 51, and the other end is hinged to the right-angle end of the L-shaped rocker arm 55. The free end of the long arm of the rocker arm 55 is connected to the output end of the second servo 52, and the free end of the short arm is fixed to the connecting block 56 by screws. The collection net 57 is installed on the other end of the connecting block 56.

[0042] When the first servo motor 51 and the second servo motor 52 are working, their rotation is converted into the movement of the connecting block 56 through the connecting rod 54 and the rocker arm 55, which drives the collecting net 57 to move forward and backward. During this process, the collecting net 57 moves up and down respectively. The collecting net 57 is designed as a hemispherical bowl-shaped structure with the opening facing upward. This shape conforms to the shape characteristics of cucurbitaceous crop fruits, which can better support the fruits and prevent them from falling. At the same time, the small holes evenly distributed on the collecting net 57 can drain rainwater in rainy weather, avoiding water accumulation that affects the quality of the fruits. It can also drain impurities such as soil and broken leaves, ensuring that the fruits are clean and tidy.

[0043] In this embodiment of the automatic crop collection device, the support plate 1 serves as the basic support structure for the entire device, providing an installation platform for the support 2 and the drive assembly 3. When the mobile vehicle moves through the cucurbit crop field during harvest, and reaches the target collection area, the drive assembly 3 enables the support 2 to move along the length of the support plate 1. This allows the picking assembly 4 and the collecting assembly 5, installed at the front end of the support 2, to flexibly reach different crop locations within the target collection area. The picking assembly 4 is responsible for cutting the roots and stems of the cucurbit crops, separating the fruit from the plant. The collecting assembly 5 collects the fruit promptly after cutting, preventing it from falling to the ground and causing loss. This structural design integrates the picking and collecting functions, and through the coordinated movement of the support 2 and the vehicle, improves the device's adaptability to different crop locations.

[0044] Example 2

[0045] The automatic crop harvesting device in this embodiment has the same basic structure as that in Embodiment 1, but the differences or improvements are as follows:

[0046] The support plate 1 is designed as an L-shaped plate with the inner right angle facing upward. This shape not only increases the stability of the device, but also better adapts to different working scenarios and makes it easy to place in locations such as corners of fields.

[0047] On the inner wall of the long L-shaped side of the support plate 1, a drive assembly 3 is installed to provide power and track for the movement of the support 2. On the outer wall of the short L-shaped side, a controller 8 is installed to centrally control the specific actions of various parts of the device, such as the drive assembly 3, the picking assembly 4, the collecting assembly 5, the vision recognition module 6, and the robotic arm 7, so as to realize the automated and intelligent operation of the entire device, improve work efficiency, and reduce the labor intensity of operators.

[0048] like Figure 1 and Figure 3 As shown, a visual recognition module 6 is installed on the end face of the front end of the support 2. It is preferably the existing ESP32 visual recognition module. It uses image recognition technology to identify parameters such as the position and size of crop fruits in real time, providing accurate positioning data for the picking component 4 and the collection component 5, making the picking and collection operations more accurate and efficient.

[0049] The robotic arm 7 installed on the upper end of the rear end of the support 2 is a robotic arm 7 with existing technology that can swing up and down and perform gripping actions. It plays an auxiliary role in the harvesting process. For example, for some roots and stems that are difficult to cut directly, the robotic arm 7 can fix or adjust their position first, so that the cutting blade 42 can cut smoothly and reduce damage to the crop. In addition, the robotic arm 7 can also be equipped with a flashlight to improve the acquisition accuracy of the visual recognition module 6, reduce environmental interference in the harvesting environment, and further improve work efficiency.

[0050] In actual operation, the controller 8 is a control component of the prior art, and its specific structure will not be described in detail. The operator starts the device through the controller 8. The controller 8 controls the first motor 34 in the drive component 3 to move the support 2 to the appropriate position. Then, the vision recognition module 6 feeds back the recognized fruit position information to the controller 8. The controller 8 controls the second motor 41 of the picking component 4 to start based on this information, and the cutting blade 42 begins to cut the crop roots.

[0051] While the fruit is being cut, the controller 8 controls the first servo motor 51 and the second servo motor 52 of the collecting component 5, so that the collecting net 57 moves according to the preset motion trajectory, accurately and automatically collecting the fruit. If the rootstock is difficult to cut, the controller 8 controls the robotic arm 7 to assist in cutting. Through the close cooperation of each component and the unified control of the controller 8, the entire device achieves efficient and precise picking and collection of cucurbit crops, greatly improving work efficiency, reducing labor costs, reducing crop damage, and improving the overall quality of the crop.

[0052] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention. The actual structure and manufacturing steps are not limited to these. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An automatic crop collecting device comprising a carrier and a support plate (1) mounted on the carrier load surface, characterized in that: A support plate (1) is mounted with a support (2) and a drive assembly (3) that drives the support (2) to move along the length of the support plate (1). The mounting surface of the support (2) is connected to the picking component (4) and the collecting component (5); Harvesting component (4) cuts the rootstock at the bottom of the fruit; The collection component (5) below collects the cut fruit; The drive assembly (3) includes a guide rail (31), a rack (32), a slider (33), a first motor (34), a motor bracket (35), and a gear (36). The guide rail (31) and the rack (32) are both mounted on the upper surface of the support plate (1) and are parallel to each other. The slider (33) is mounted on the bottom of the support (2) and is slidably connected to the guide rail (31). The first motor (34) is mounted on one side of the support (2) through the motor bracket (35). The gear (36) is mounted on the output end of the first motor (34) and meshes with the rack (32). The picking assembly (4) includes a second motor (41) and a cutting tool (42). The second motor (41) is installed on the upper end of the support (2). A bushing is installed on the output end of the second motor (41). The cutting tool (42) is installed on the bushing and fixed with fasteners. The collection component (5) includes a drive servo, a transmission mechanism, a connecting block (56) and a collection net (57). The drive servo is installed at the bottom of the front end of the support (2). The collection net (57) is installed at one end of the connecting block (56). The other end of the connecting block (56) is connected to the output end of the dual-axis servo through the transmission mechanism. The collection net (57) is driven to move forward and backward by the drive servo.

2. The automatic crop collection apparatus of claim 1, wherein: The drive servo motors include a first servo motor (51) and a second servo motor (52). The first servo motor (51) and the second servo motor (52) are mounted on the bottom front end of the support (2) via a mounting bracket (53). The transmission mechanism includes a connecting rod (54) and a rocker arm (55). The first end of the connecting rod (54) is hinged to the first end of the rocker arm (55). The second end of the connecting rod (54) is mounted on the output end of the first servo motor (51). The second end of the rocker arm (55) is mounted on the output end of the second servo motor (52). The third end of the rocker arm (55) is fixed to the end of the connecting block (56) away from the collecting net (57).

3. The automatic crop collection apparatus of claim 2, wherein: The rocker arm (55) is L-shaped. The right-angle end of the L-shape is the first end and is hinged to the connecting rod (54). The free end of the long arm of the L-shape is the second end and is connected to the output end of the second servo motor (52). The free end of the short arm of the L-shape is the third end and is fixed to the end of the connecting block (56) by screws.

4. The automatic crop collection apparatus of claim 2, wherein: The first servo (51) and the second servo (52) are both dual-axis servos, with two transmission mechanisms symmetrically distributed on both sides of the dual-axis servos.

5. The automatic crop collection apparatus of claim 2, wherein: The collecting net (57) is a hemispherical bowl-shaped structure with its opening facing upwards, and the collecting net (57) has evenly distributed small holes.

6. The automatic crop collection apparatus of any one of claims 1-5, wherein: A visual recognition module (6) for identifying the position of crop fruit is installed on the front end face of the support (2), and a robotic arm (7) for assisting in shearing is installed on the rear end upper face of the support (2).

7. An automatic crop collection device according to claim 6, wherein, The support plate (1) is an L-shaped plate. The drive assembly (3) is installed on the inner wall of the long side of the L-shape of the support plate (1). The controller (8) is installed on the outer wall of the short side of the L-shape of the support plate (1). The controller (8) controls the start, stop and action of the drive assembly (3), the picking assembly (4), the collecting assembly (5), the visual recognition module (6), and the robotic arm (7).

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