Modular based picking robot

Abstract

The utility model relates to the intersection field of agricultural engineering and automation technology, and specifically discloses a picking robot based on modularization, which comprises a chassis module arranged on a rudder wheel chassis body, the utility model cooperates through a plurality of rotary motors and synchronous pulleys through the mechanical arm module, simulates human hand to realize high freedom degree flexible movement, the fixed pulley and automatic take-up device enhance the moving stability and positioning accuracy, can accurately approach, grab and pick crops, reduce the fruit damage rate, improve picking quality, meanwhile, the utility model is based on modularization design, the mechanical arm module and chassis module are independent and closely cooperate, replace the end execution structure to realize multiple functions, expand the application range, the modularization design is convenient for maintenance upgrade, reduces the maintenance cost and difficulty, improves the versatility and expandability of the robot.

Description

Technical Field

[0001] This utility model relates to the interdisciplinary field of agricultural engineering and automation technology, and in particular to a modular harvesting robot. Background Technology

[0002] In the process of agricultural modernization, agricultural robots have gradually become an important means to improve agricultural production efficiency and solve labor shortages. However, existing agricultural robots still face many challenges in practical applications, limiting their widespread application and effectiveness in agricultural production. From the perspective of the robotic arm, the robotic arms of traditional agricultural robots often have low degrees of freedom and inflexible structural designs, making it difficult to accurately mimic human hand movements to adapt to the different growth forms and positions of crops. This results in the inability to accurately approach, grasp, and harvest crops during the harvesting process, easily causing damage to the fruit and reducing harvest quality. At the same time, due to the lack of effective stabilization and positioning mechanisms, the robotic arm may wobble during movement, further affecting the accuracy and reliability of operation.

[0003] In terms of overall robot design, most existing agricultural robots adopt a non-modular design concept. This design makes the robot's functions relatively limited, making it difficult to flexibly adjust and expand according to different agricultural production needs. Once it is necessary to add or change the robot's functions, it is often necessary to redesign and remanufacture the entire robot, which is costly and inefficient. In addition, the non-modular design also brings great difficulties to the maintenance and upgrading of the robot. When a component fails, the repair and replacement process is complicated and time-consuming, affecting the normal use of the robot. Utility Model Content

[0004] The purpose of this invention is to provide a modular harvesting robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A modular harvesting robot includes a chassis module mounted on a steering wheel chassis body.

[0007] In a preferred embodiment, the chassis module includes a frame on which anti-collision casters and Mecanum wheels are mounted.

[0008] In one preferred embodiment, the frame is provided with a Mecanum wheel set, a valve, a vacuum pump, a rotary motor, a battery, a battery holder, and a suction cup in sequence.

[0009] Specifically, start the vacuum pump, operate the valves, and check the suction power of suction cup one and suction cup two. Ensure that the valves can accurately control the suction and release of air from the suction cups, allowing them to properly adsorb and release objects.

[0010] In a preferred embodiment, the Mecanum wheel assembly includes a stop plate, on which a Mecanum wheel is connected. One end of the stop plate is connected to a servo motor, and the output end of the servo motor drives the Mecanum wheel.

[0011] In a preferred embodiment, a shock absorber is connected to the abutment plate, and one end of the shock absorber is connected to the steering wheel chassis body.

[0012] In a preferred embodiment, the rotary motor seven is connected to a synchronous pulley via a synchronous belt. A robotic arm module is connected to the synchronous pulley. The robotic arm module includes a first synchronous pulley, and a connecting plate is connected to the top of the first synchronous pulley. A rotary motor two and a rotary motor three are respectively provided on the connecting plate. One end of the rotary motor three is driven and connected to a second synchronous pulley. A synchronous belt is connected to the second synchronous pulley, and one end of the synchronous belt is connected to a third synchronous pulley. One end of the third synchronous pulley is connected to the connecting plate.

[0013] Specifically, once the robot reaches the vicinity of the target crop, it sends a command through the control device to rotate the synchronous pulley driven by the rotating motor, which in turn drives the first synchronous pulley of the robotic arm module to rotate, causing the robotic arm to rotate and adjust in the yaw axis direction to align with the target crop.

[0014] In a preferred embodiment, the connecting plate is provided with a fixed pulley inside.

[0015] In a preferred embodiment, the bottom of the connecting plate is provided with an automatic retractor.

[0016] In a specific embodiment of this example, rotary motor two is activated, driving the connecting plate to rotate around the corresponding joint, adjusting the angle of the connecting plate (upper arm) to bring it closer to the target crop. Next, rotary motor three operates, controlling the rotation of the side plate (lower arm) through the transmission of the second and third synchronous pulleys, further bringing suction cup one closer to the target crop. During this process, the fixed pulley and automatic retractor work together, acting like "ribs," ensuring the stability of the robotic arm during movement and preventing wobbling that could affect positioning accuracy.

[0017] In a preferred embodiment, a crossed roller bearing is connected to the connecting plate.

[0018] In a preferred embodiment, a side plate is connected to the third synchronous pulley and the crossed roller bearing. A rotary motor is provided on the side plate, and a coupling is driven and connected to the rotary motor. A fixing plate is connected to the coupling.

[0019] In a preferred embodiment, a rotary motor is connected to the side plate, the rotary motor drives a rotating roller, and a fixed plate is connected to the rotating roller.

[0020] In one preferred embodiment, a rotary motor four is connected to the fixed plate, and the rotary motor four drives a suction cup one.

[0021] Specifically, when suction cup one approaches the target crop, the valve is operated to activate the vacuum pump, and suction cup one generates suction to adhere to the target crop. Then, rotary motor five is started, which, driven by the coupling, causes the robotic arm to lift upwards in the pitch axis direction, picking the crop off the plant.

[0022] Specifically, after harvesting and posture adjustment, the robot is moved to the designated location, such as next to the container holding the harvested crops or the transport equipment, by operating the rotary motor seven through the control equipment.

[0023] Furthermore, after completing one picking and placement operation, the robot continues to search for and pick other target crops according to the above steps, repeating the operations of moving, locating, picking, transferring and placing until all picking tasks in the area are completed.

[0024] Furthermore, once all harvesting tasks are completed, the robot's power is switched off via control equipment, and the robot is moved to the designated storage location. The robot is then cleaned and maintained, its components are inspected for wear and tear, and severely worn parts are replaced promptly to prepare it for the next use.

[0025] Further, check whether the components in the robotic arm module, such as the synchronous pulleys, rotary motors, couplings, crossed roller bearings, fixed pulleys, automatic retractors, and suction cups, are in good working order, ensuring that there is no looseness, wear, or malfunction.

[0026] Furthermore, once all harvesting tasks are completed, the robot's power is switched off via control equipment, and the robot is moved to the designated storage location. The robot is then cleaned and maintained, its components are inspected for wear and tear, and severely worn parts are replaced promptly to prepare it for the next use.

[0027] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0028] This invention utilizes a robotic arm module that, through the coordinated action of multiple rotary motors and synchronous pulleys, mimics the human hand to achieve highly free and flexible movement. Fixed pulleys and an automatic retractor enhance the stability and positioning accuracy of the movement, enabling it to accurately approach, grasp, and harvest crops, reducing fruit damage and improving harvesting quality.

[0029] This utility model is based on a modular design. The robotic arm module and the chassis module are independent of each other but closely cooperate. By changing the end effector structure, multiple functions can be achieved, which expands the application range. The modular design facilitates maintenance and upgrades, reduces maintenance costs and difficulty, and improves the robot's versatility and scalability.

[0030] This invention utilizes Mecanum wheelsets to enable 360° omnidirectional mobility, allowing for flexible movement in complex agricultural environments. This expands the work area while enhancing mobility, enabling rapid movement, positioning, harvesting, and placement of crops. It efficiently handles large-scale harvesting tasks, significantly improving work efficiency and reducing labor costs compared to manual labor, thus alleviating agricultural labor shortages. Furthermore, the anti-collision casters and shock absorbers at the four corners of the frame buffer collisions and absorb vibrations, ensuring stable travel. This protects the robot's structure, reduces accidental damage to crops, and improves work safety. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0032] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and do not specifically limit the shapes and proportions of the components. Those skilled in the art, under the guidance of this invention, can select various possible shapes and proportions to implement this invention according to specific circumstances.

[0033] Figure 1 This is a three-dimensional structural diagram of a modular harvesting robot proposed in this utility model.

[0034] Figure 2 This is a three-dimensional structural diagram of a modular harvesting robot proposed in this utility model.

[0035] Figure 3This is an exploded structural diagram of a modular harvesting robot proposed in this utility model.

[0036] Figure 4 This is an exploded structural diagram of a modular harvesting robot proposed in this utility model.

[0037] Figure 5 This is an exploded structural diagram of a modular harvesting robot proposed in this utility model.

[0038] Figures 1-5 In the accompanying drawings, the reference numerals include:

[0039] 1. Robotic arm module; 11. First synchronous pulley; 12. Rotary motor two; 13. Rotary motor three; 14. Second synchronous pulley; 15. Third synchronous pulley; 16. Cross roller bearing; 17. Suction cup one; 18. Rotary motor four; 19. Rotary motor five; 110. Coupling; 111. Fixed pulley; 112. Automatic cable reel; 113. Rotary motor six; 2. Chassis module; 21. Anti-collision casters; 22. Frame; 23. Mecanum wheel set; 231. Mecanum wheel; 232. Butt plate; 233. Servo motor; 234. Shock absorber; 24. Valve; 25. Vacuum pump; 26. Rotary motor seven; 27. Battery; 28. Battery rack; 29. ​​Suction cup two. Detailed Implementation

[0040] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0041] In the description of this utility model, it should be understood that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component that is centrally positioned therein. When a component is considered to be "set" on another component, it can be directly set on the other component or there may be a component that is centrally positioned therein.

[0042] Furthermore, terms such as "long," "short," "inner," and "outer" indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this utility model and do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientational configuration. Therefore, they should not be construed as limitations of this utility model.

[0043] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the protection scope of the present invention.

[0044] Example 1

[0045] See Figure 1-5 This embodiment provides a modular harvesting robot, including a chassis module 2 mounted on the vehicle body.

[0046] The chassis module 2 includes a frame 22, on which anti-collision casters 21 and Mecanum wheelsets 23 are mounted.

[0047] In a specific embodiment of this example, before using the harvesting robot, carefully inspect each component of the chassis module 2 and the robotic arm module 1. Check whether the frame 22 is deformed or damaged, whether the anti-collision casters 21 can rotate flexibly, and whether the connection of the Mecanum wheel set 23's abutment 232, Mecanum wheels 231, servo motor 233, and shock absorber 234 is secure.

[0048] The frame 22 is equipped with Mecanum wheelset 23, valve 24, vacuum pump 25, rotary motor 26, battery 27, battery rack 28 and suction cup 29 in sequence.

[0049] Furthermore, at the same time, check whether the components in the robotic arm module 1, such as the synchronous pulleys (11, 14, 15), rotary motors (12, 13, 18, 19, 113), couplings 110, cross roller bearings 16, fixed pulleys 111, automatic retractors 112, and suction cups (17, 29), are in good working order and ensure that there is no looseness, wear, or malfunction.

[0050] In this specific embodiment, battery 27 is correctly installed on battery holder 28, and the battery level is checked. If the level is insufficient, the battery is charged or replaced promptly to ensure that the robot has sufficient power to complete the harvesting task. Simultaneously, it is confirmed that the switch function of battery holder 28 is normal and can effectively control the battery's on / off state.

[0051] Specifically, start the vacuum pump 25, operate valve 24, and check the suction power of suction cup 17 and suction cup 29. Ensure that valve 24 can accurately control the suction and release of air from the suction cups, so that the suction cups can properly adsorb and release objects.

[0052] The Mecanum wheel set 23 includes a back plate 232, on which a Mecanum wheel 231 is connected. One end of the back plate 232 is connected to a servo motor 233, and the output end of the servo motor 233 drives the Mecanum wheel 231.

[0053] In a specific embodiment of this example, a start command is sent via an external control device (such as a remote control or a computer control system) to initiate the operation of the rotary motor 26. The rotary motor 26 drives the synchronous pulley via a synchronous belt, which in turn drives the servo motor 233 in the Mecanum pulley set 23.

[0054] In a specific embodiment of this invention, due to the special structure of the Mecanum wheels 231, the robot can achieve 360° omnidirectional movement. The operator controls the robot to move flexibly within the work area based on the location of the crop to be harvested. During movement, if an obstacle is encountered, the anti-collision casters 21 will first contact and buffer the impact force to prevent the robot from getting stuck; simultaneously, the shock absorbers 234 will absorb vibrations caused by uneven ground, ensuring the robot moves smoothly.

[0055] Specifically, when the robot reaches the vicinity of the target crop, it sends a command through the control device, and the rotary motor 726 drives the synchronous pulley, which in turn drives the first synchronous pulley 11 of the robotic arm module 1 to rotate, so that the robotic arm rotates and adjusts in the yaw axis direction to align with the target crop.

[0056] A shock absorber 234 is connected to the abutment plate 232, and one end of the shock absorber 234 is connected to the vehicle body.

[0057] Rotary motor 7 26 is connected to a synchronous pulley via a synchronous belt. A robotic arm module 1 is connected to the synchronous pulley. The robotic arm module 1 includes a first synchronous pulley 11. A connecting plate is connected to the top of the first synchronous pulley 11. Rotary motor 2 12 and rotary motor 3 13 are respectively provided on the connecting plate. One end of rotary motor 3 13 is driven and connected to a second synchronous pulley 14. A synchronous belt is connected to the second synchronous pulley 14. One end of the synchronous belt is connected to a third synchronous pulley 15. One end of the third synchronous pulley 15 is connected to the connecting plate.

[0058] The connecting plate is equipped with a fixed pulley 111.

[0059] An automatic retractor 112 is provided at the bottom of the connecting plate.

[0060] In a specific embodiment of this invention, rotary motor 2 12 is activated, driving the connecting plate to rotate around the corresponding joint, adjusting the angle of the connecting plate (upper arm) to bring it closer to the target crop. Next, rotary motor 3 13 operates, controlling the rotation of the side plate (lower arm) through the transmission of the second synchronous pulley 14 and the third synchronous pulley 15, further bringing the suction cup 17 closer to the target crop. During this process, the fixed pulley 111 and the automatic retractor 112 work together, acting like "ribs," ensuring the stability of the robotic arm during movement and preventing swaying that could affect positioning accuracy.

[0061] Specifically, when suction cup 17 approaches the target crop, valve 24 is operated to activate vacuum pump 25, and suction cup 17 generates suction to adhere to the target crop. Then, rotary motor 5 19 is started and driven by coupling 110 to lift the robotic arm upward in the pitch axis direction, picking the crop off the plant.

[0062] A crossed roller bearing 16 is connected to the connecting plate.

[0063] A side plate is connected to the third synchronous pulley 15 and the crossed roller bearing 16. A rotary motor 19 is provided on the side plate. A coupling 110 is driven and connected to the rotary motor 19. A fixing plate is connected to the coupling 110.

[0064] A rotary motor 6113 is connected to the side plate. The rotary motor 6113 drives a rotating roller, and a fixed plate is connected to the rotating roller.

[0065] A rotary motor 418 is connected to the fixed plate, and the rotary motor 418 drives the suction cup 17.

[0066] In a specific embodiment of this example, after the crop is harvested, rotary motor 4 18 and rotary motor 6 113 can be activated as needed. Rotary motor 4 18 drives suction cup 17 to rotate in the roll axis direction to adjust the posture of the crop; rotary motor 6 113 drives the rotating roller, which in turn drives the fixing plate and suction cup 17 to be further adjusted in the roll axis direction to facilitate subsequent handling and placement operations.

[0067] Specifically, after harvesting and posture adjustment, the robot is moved to the designated location, such as next to the container holding the harvested crops or the transport equipment, by operating the rotary motor 726 through the control equipment.

[0068] In a specific embodiment of this example, after reaching the placement position, valve 24 is operated to turn off vacuum pump 25, causing suction cup 17 to lose its suction force, and the harvested crop is placed in the container. If suction cup 29 is needed for assisted placement or handling, the suction force of suction cup 29 can be controlled according to the same operating procedure.

[0069] Furthermore, after completing one picking and placement operation, the robot continues to search for and pick other target crops according to the above steps, repeating the operations of moving, locating, picking, transferring and placing until all picking tasks in the area are completed.

[0070] Furthermore, once all harvesting tasks are completed, the robot's power is switched off via control equipment, and the robot is moved to the designated storage location. The robot is then cleaned and maintained, its components are inspected for wear and tear, and severely worn parts are replaced promptly to prepare it for the next use.

[0071] Example 2

[0072] Based on the first embodiment, the vehicle body is controlled by an algorithm of a three-degree-of-freedom turret.

[0073] a. Chassis structure and calculations:

[0074] First, assume the vehicle's forward speed is 1, its translational speed is 1, and its rotational speed is 1. Then, the 3-axis speeds of the four wheel sets can be obtained from the vehicle's 3-axis speeds:

[0075] Vx1 = Vx2 = Vx3 = Vx4 = 1

[0076] Vy1=Vy2=Vy3=Vy4=1

[0077] Vw1=Vw2=Vw3=Vw4=1×R=R

[0078] The magnitude and direction of the resultant velocity are obtained by combining the velocities of each component:

[0079]

[0080] b. Implementation and trajectory planning of the "3+3" robotic arm motion:

[0081] Regarding the implementation of electronic control algorithms, drawing analogy with the control scheme of robotic arms, the following control scheme is proposed:

[0082] Given the coordinates of the end point, solve for the target angle of the articulated motor:

[0083] Inverse kinematics solution for the turret:

[0084] Coordinates of point P: P = Rot(θ2, 'z') * [a; 0; 0];

[0085] Coordinates of point E: E=P+Rot(θ2,'z')*Rot(π,'z')*[b;0;0];

[0086] If the given coordinates of point E are consistent with the coordinates obtained by using the above formula, then the inverse solution is correct.

[0087] Knowing the constraint relationship between the turret end coordinates and the joint motor, the vehicle body's lower-level computer control strategy can use this constraint relationship as a basis to perform closed-loop control on the corresponding variables, causing the turret to perform the corresponding actions.

[0088] In actual vehicle control, the vehicle controller often sends feedforward torque τff, target angle pdes, and target angular velocity ωdes to the joints simultaneously. This control mode is called hybrid control, which is also the most commonly used control mode in subsequent practical applications.

[0089] For robots, it is typically necessary to set the position, velocity, and torque of the joints. This requires mixed control of the joint motors. The joint motors contain the following five control commands:

[0090] 1. Feedforward torque: τff

[0091] 2. Desired angular position: peds

[0092] 3. Desired angular velocity: ωdes

[0093] 4. Position stiffness: kp

[0094] 5. Velocity stiffness (damping): kd

[0095] In the hybrid control of articulated motors, a PID controller is used to feed back the deviation of the motor in the output position to the torque output:

[0096] τ=τff+kp·(peds-p)+kd·(ωdes-ω)(1.1)

[0097] When using articulated motors in practice, it is necessary to convert the target control quantity at the motor output end into the command sent to the motor rotor.

[0098] A mathematical model of a robotic arm based on the xArm1S intelligent bus was established using the DH method. The motion simulation and angular velocity calculation of each link of the robotic arm were then implemented using the Robotics Toolbox in Matlab 2020a, given the initial and final positions of the end effector. Finally, an STM32 microcontroller was used as the core control module to realize the motion control of each link of the six-degree-of-freedom robotic arm. A PID controller was added to a module built in Simulink to simulate the motion of the robotic arm.

[0099] Robotic arm motion simulation and angle calculation, based on the RobicsToolbox toolbox:

[0100] The robot arm's motion simulation was achieved by using the Robotics Toolbox 10.4 toolkit to write a program and build a model, generating a GUI interface as shown in the figure. The simulation obtained the relevant motion information of each link in this process, which can be recorded and the motion process can be realized through a physical device.

[0101] The toolbox simulation can determine the changes in angles and angular accelerations of the robotic arm during operation at a given initial and final position. The motion of each joint of the robotic arm can be displayed in real time during the simulation.

[0102] Example 3

[0103] Based on the first embodiment, the robot is equipped with a visual recognition structure design and a visual algorithm trajectory planning.

[0104] Regarding the selection and placement of cameras, depth cameras should be used because harvesting robots should have functions such as scanning, smooth tracking, positioning, color recognition, shape recognition, and image transmission.

[0105] RealSense technology consists of a vision processor, a depth and tracking module, and a depth camera, supported by an open-source, cross-platform SDK called LibrealSense. Leveraging its built-in IMU unit, it achieves 6DoF tracking by combining visual data. The IMU combines data from various linear accelerometers and gyroscopes to detect rotation and translation along the X, Y, and Z axes, as well as pitch and roll movements. The D435i's 20-megapixel RGB camera and 3D sensor can provide a resolution of up to 1280×720 at 30 frames per second, or a lower resolution of 848×480 at 90 frames per second. The camera features a global shutter, enabling it to handle fast-moving objects and is operable both indoors and outdoors. The depth range is between 0.1m and 10m, with a field of view of 85×58 degrees.

[0106] In this embodiment, a brief introduction to the operating environment and device functions is provided.

[0107] The harvesting robot's code uses the CLion compiler and C++ programming language, employing object-oriented programming principles. Its vision system primarily assists in visual perception; the entire picking and placing process is equipped with two cameras. The first camera assists in visual perception; the second camera identifies the shape and position of the fruit during harvesting and, based on the PNP algorithm, calculates the pitch, yaw, and roll axis angles, sending these calculations to the lower-level computer.

[0108] In this embodiment, a fruit recognition algorithm is used.

[0109] The process of capturing the fruit in mid-air uses OpenCV's template matching method, specifically the `matchShapes` function. The fruit with the lowest difference rate is the target. After finding the corresponding fruit, preprocessing is performed to find its center point. Since the wide-angle camera is mounted at the center of the two clamps, the center point of the original image's x-axis can be used as a reference. The distance between the fruit's center point and the center point of the original image's x-axis is then calculated for precise positioning. Finally, a command to move towards the fruit is sent to the lower-level computer.

[0110] In this embodiment, the wide-angle camera is calibrated and distortion is corrected.

[0111] Because the harvesting robot requires a wide field of view, a wide-angle camera with a large field of view was selected and mounted on the robotic arm module. Although the wide-angle camera has a wide field of view, actual testing showed that its barrel distortion was severe. Therefore, distortion correction must be performed before designing the camera algorithm. This process is accomplished by calling the OpenCV `undistort` function. However, the interface provided by this function requires the camera's intrinsic parameters and distortion coefficients. Therefore, camera calibration must be performed before all of this.

[0112] Camera calibration primarily employs the principle of Zhang Zhengyou's calibration method, using a checkerboard pattern. First, corner detection is initialized based on the number of corner points in each row and column of the calibration board. Then, the world coordinates of the corner points are initialized by measuring the actual width and height of the checkerboard. Next, calibration images are prepared (ensuring the image size and number of corner points are valid). Then, corner information is extracted from each calibration image, followed by sub-pixel corner information. The found interior corner points are plotted on the checkerboard calibration map. Finally, the camera calibration is performed by calling OpenCV's `calibrateCamera` function, outputting the camera's intrinsic parameters and distortion coefficients.

[0113] In this embodiment, the robotic arm's hand-eye calibration is performed.

[0114] When a robotic arm and a camera work together, in order to establish a relationship between the coordinate systems of the camera (i.e., the robot's eye) and the robot (i.e., the robot's hand), it is necessary to calibrate the robot's coordinate system and the camera's coordinate system. This calibration process is called hand-eye calibration.

[0115] Since the robot is in motion, the calibration mainly focuses on relatively invariant quantities, which can be roughly divided into the following two types:

[0116] In the eye-to-hand scenario, robot hand-eye calibration involves determining the coordinate transformation relationship between the robot base and the camera (the camera is fixed).

[0117] In the eye-in-hand scenario, robot hand-eye calibration determines the coordinate transformation relationship between the robot's end effector and the camera (the camera is on the robotic arm's hand and moves with the robotic arm).

[0118] In harvesting robots, eye-to-hand calibration is mainly used, meaning the camera is fixed and does not move with the machine.

[0119] Example 4

[0120] Based on the embodiments 1-3, the hardware structure and circuit design and module assembly are as follows:

[0121] Based on the design principles of simplicity and stability, the finished 485 communication module, power management module, and MCU are integrated on the same PCB, optimizing the sensor layout. The traditional PWM communication method is replaced with a 485 network, improving circuit stability. Optocouplers are used to enhance the isolation of the serial port chip, and an FDCAN signal modulation chip is also installed to improve communication fidelity and accelerate the existing CAN signal.

[0122] The Intel NUC8i5BEKPA is used as the host computer to communicate with the main control board. A step-down circuit breaks down the vehicle's 24V battery to 19V and provides a stable 4.6A current output. This NUC will run the Ubuntu system.

[0123] The simulation and control process of the robotic arm can be applied to real-world projects and enables control of various joints under complex environments. First, the starting and ending positions of the robotic arm's end effector are determined based on actual engineering needs. Then, the Robotics Toolbox is used to simulate the robotic arm's motion, solving for the positions, angular velocities, and angular accelerations of each joint. Next, a program is written using an STM32 microcontroller to control the servos and realize the entire motion process of the robotic arm, simultaneously verifying the accuracy of the equations and simulations. To compensate for some shortcomings of PID control, fuzzy control can be introduced later by establishing rules for the robotic arm, which significantly improves the model's accuracy.

[0124] The hybrid control algorithm for articulated motors requires finding appropriate parameters through actual debugging. For typical time-delay systems, changes in the setpoint will produce a significant lag before being reflected in the controlled variable, thus preventing reasonable adjustment. Feedforward control systems, on the other hand, operate based on the principle of compensation according to changes in disturbances or setpoints. Their characteristic is that when a disturbance occurs, before the controlled variable changes, control is applied according to the magnitude of the disturbance to compensate for its impact on the controlled variable. When used properly, feedforward control systems can eliminate disturbances to the controlled variable in their early stages, preventing deviations due to disturbances or changes in setpoints. Compared to feedback control, it provides more timely control and is unaffected by system lag.

[0125] The system sends motor-related data to the host computer in real time. The host computer then displays the data graphically using specialized software, and the lifting mechanism and image processing module are used for joint debugging. When individual joint motors need to be controlled separately, a remote control can be used for debugging. Control parameters are corrected and the program optimized based on the motion status. After debugging, actual testing is conducted. If problems arise, debugging continues until all expected functions can be stably performed. Finally, the logic for the robot's series of operations is programmed according to requirements to maximize the automation of each function and achieve rapid and stable fulfillment of requirements.

[0126] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0127] The detailed descriptions listed above are merely specific descriptions of feasible implementations of this utility model, and are not intended to limit the scope of protection of this utility model. All equivalent implementations or modifications made without departing from the spirit of this utility model should be included within the scope of protection of this utility model.

Claims

1. A modular harvesting robot, characterized in that, Including the chassis module (2) mounted on the vehicle body; The chassis module (2) includes a frame (22) on which anti-collision casters (21) and Mecanum wheelsets (23) are provided. The frame (22) is provided with Mecanum wheel set (23), valve (24), vacuum pump (25), rotary motor seven (26), battery (27), battery rack (28) and suction cup two (29) in sequence.

2. The modular harvesting robot according to claim 1, characterized in that, The Mecanum wheel assembly (23) includes a stop plate (232), on which a Mecanum wheel (231) is connected. One end of the stop plate (232) is connected to a servo motor (233), and the output end of the servo motor (233) drives the Mecanum wheel (231).

3. A modular harvesting robot according to claim 2, characterized in that, A shock absorber (234) is connected to the abutment plate (232), and one end of the shock absorber (234) is connected to the vehicle body.

4. A modular harvesting robot according to claim 1, characterized in that, The rotary motor seven (26) is connected to a synchronous pulley via a synchronous belt. A robotic arm module (1) is connected to the synchronous pulley. The robotic arm module (1) includes a first synchronous pulley (11). A connecting plate is connected to the top of the first synchronous pulley (11). A rotary motor two (12) and a rotary motor three (13) are respectively provided on the connecting plate. A second synchronous pulley (14) is driven and connected to one end of the rotary motor three (13). A synchronous belt is connected to the second synchronous pulley (14). A third synchronous pulley (15) is connected to one end of the synchronous belt. One end of the third synchronous pulley (15) is connected to the connecting plate.

5. A modular harvesting robot according to claim 4, characterized in that, The connecting plate is equipped with a fixed pulley (111). An automatic retractor (112) is provided at the bottom of the connecting plate.

6. A modular harvesting robot according to claim 4, characterized in that, A crossed roller bearing (16) is connected to the connecting plate.

7. A modular harvesting robot according to claim 4, characterized in that, A side plate is connected to the third synchronous pulley (15) and the crossed roller bearing (16). A rotary motor (19) is provided on the side plate. A coupling (110) is driven and connected to the rotary motor (19). A fixing plate is connected to the coupling (110). A rotary motor (113) is connected to the side plate, and the rotary motor (113) drives a rotating roller, on which a fixed plate is connected.

8. A modular harvesting robot according to claim 7, characterized in that, A rotary motor four (18) is connected to the fixed plate, and the rotary motor four (18) drives a suction cup one (17).

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