A picking robot and picking robot arm

Abstract

The embodiment of the application relates to the technical field of agricultural facilities, and discloses a picking mechanical arm and a picking robot, the picking mechanical arm comprising a gas supply device, a mechanical arm body, a clamping mechanism, a swing mechanism and a gas nozzle device, the clamping assembly being used for clamping a to-be-clamped object, the swing mechanism, the gas supply device and the gas nozzle assembly being connected, the gas supply device being used for supplying gas to the gas nozzle assembly, the gas nozzle assembly being used for blowing gas to a shielding object shielding the to-be-clamped object to expose the to-be-clamped object, the clamping mechanism being used for clamping the exposed to-be-clamped object, and the swing mechanism driving the gas nozzle assembly to swing to adjust the angle of blowing gas to the shielding object. In the above manner, the swing mechanism can drive the gas nozzle assembly to swing at multiple angles, a wide range of fruit searching can be realized without moving the whole mechanical arm body, work efficiency is improved, and the system energy consumption of the picking mechanical arm is reduced.

Description

Technical Field

[0001] This application relates to the field of agricultural facility technology, and in particular to a harvesting robotic arm and a harvesting robot. Background Technology

[0002] With accelerated urbanization and a continuous outflow of agricultural population, fruit farmers face seasonal labor shortages every harvest season. The optimal harvesting time for ripe fruit is very short; missing this window results in poor appearance and taste, impacting the farmer's yield. To address this seasonal harvesting problem, harvesting robots have emerged. These robots consist of a wheeled, mobile chassis, a harvesting device, grippers, and a harvesting basket. The basket and device are mounted on the chassis, while the grippers are located at the end of the device. The device drives the grippers to pick up the fruit and place it in the basket. Harvesting robots can replace repetitive labor, especially during the fruit ripening season, enabling 24-hour continuous operation and effectively filling the labor gap.

[0003] During the implementation of this application's embodiments, the inventors discovered that traditional harvesting robotic arms only have passive gripping functions and mainly rely on visual recognition systems to locate target fruits. However, in actual agricultural environments, fruits are often covered by dense leaves, branches, and other obstructions. Traditional visual systems cannot accurately identify the location and maturity of hidden fruits through these obstructions, resulting in a large number of mature fruits being missed, which seriously affects harvesting efficiency and yield. Utility Model Content

[0004] The main technical problem solved by this application is to provide a single-arm collaborative operation capability of a picking robot arm by setting a swing mechanism and an air nozzle assembly on the clamping mechanism. The swing mechanism can drive the air nozzle assembly to swing at multiple angles, and a wide range of fruit search can be achieved without moving the entire robot arm body, which improves the operation efficiency and reduces the system energy consumption of the picking robot arm. The air nozzle assembly uses an active blowing method to deal with obstructions, which effectively solves the problem that traditional visual recognition systems cannot penetrate leaf obstructions.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this application embodiment is: providing a harvesting robotic arm, including an air supply device, a robotic arm body, a clamping mechanism, a swinging mechanism, and an air nozzle device. The clamping mechanism is disposed at the end of the robotic arm body, and the clamping assembly is used to clamp the object to be clamped. The swinging mechanism is disposed at the clamping mechanism, and the air nozzle assembly is disposed at the swinging mechanism. The air supply device is connected to the air nozzle assembly, and the air supply device is used to supply air to the air nozzle assembly. The air nozzle assembly is used to blow air onto the obstruction blocking the object to be clamped to expose the object to be clamped. The clamping mechanism is used to clamp the exposed object to be clamped. The swinging mechanism drives the air nozzle assembly to swing to adjust the angle of blowing air onto the obstruction.

[0006] Optionally, the swing mechanism includes a swing seat, a first telescopic assembly, and a second telescopic assembly; One end of the first telescopic component is rotatably connected to the swing seat, and the other end of the first telescopic component is mounted on the clamping mechanism. One end of the second telescopic component is rotatably connected to the swing seat, and the other end of the second telescopic component is mounted on the clamping mechanism. The first telescopic component and the second telescopic component are arranged opposite to each other, and the air nozzle assembly is disposed on the swing seat. When the first telescopic component and the second telescopic component extend or retract simultaneously, the air nozzle assembly extends or retracts. When one of the first telescopic component and the second telescopic component extends and the other retracts, the air nozzle assembly deflects.

[0007] Optionally, the swing mechanism includes a third telescopic component and a fourth telescopic component; one end of the third telescopic component is rotatably connected to the swing seat, and the other end of the third telescopic component is mounted on a clamping mechanism; one end of the fourth telescopic component is rotatably connected to the swing seat, and the other end of the fourth telescopic component is mounted on a clamping mechanism; the first telescopic component and the second telescopic component are arranged opposite to each other along a first direction, and the third telescopic component and the fourth telescopic component are arranged opposite to each other along a second direction, wherein the first direction and the second direction are perpendicular.

[0008] Optionally, the swing seat has a first swing portion and a second swing portion. The first swing portion has a first through hole, and the second swing portion has a second through hole. The first telescopic assembly includes a first mounting member and a first telescopic member. One end of the first telescopic member is fixed to the clamping mechanism, and the other end of the first telescopic member is rotatably connected to the first mounting member. Furthermore, one end of the first mounting member has a first insertion portion, which rotatably passes through the first through hole. The second telescopic assembly includes a second mounting member and a second telescopic member. One end of the second telescopic member is fixed to the clamping mechanism, and the other end of the second telescopic member is rotatably connected to the second mounting member. The second mounting member has a second insertion portion, which rotatably passes through the second through hole.

[0009] Optionally, the swing seat is provided with a third swing portion and a fourth swing portion. The third swing portion is provided with a third through hole, and the fourth swing portion is provided with a fourth through hole. The third telescopic assembly includes a third mounting member and a third telescopic member. One end of the third telescopic member is fixed to the clamping mechanism, and the other end of the third telescopic member is rotatably connected to the third mounting member. The third mounting member is provided with a third insertion portion, which rotatably passes through the third through hole. The fourth telescopic assembly includes a fourth mounting member and a fourth telescopic member. One end of the fourth telescopic member is fixed to the clamping mechanism, and the other end of the fourth telescopic member is rotatably connected to the fourth mounting member. The fourth mounting member is provided with a fourth insertion portion, which rotatably passes through the fourth through hole.

[0010] Optionally, the harvesting robotic arm further includes an elastic conduit, and the air nozzle assembly is connected to the air supply device via the elastic conduit.

[0011] Optionally, the swing mechanism further includes an elastic mesh, one end of which is fixed to the swing seat and the other end of which is fixed to the clamping mechanism. The elastic mesh surrounds the portion of the elastic conduit located between the clamping mechanism and the swing seat.

[0012] Optionally, the clamping assembly includes a base, a plurality of gripping fingers, and a clamping drive. The base is disposed at the end of the robotic arm body, the plurality of gripping fingers are disposed on the surface of the base opposite to the end of the robotic arm body, the clamping drive is used to drive the plurality of gripping fingers to open or close, the air nozzle assembly is disposed on the base, and the plurality of gripping fingers surround the air nozzle assembly, and the swing mechanism is fixed to the base.

[0013] Optionally, the gripper is a pneumatic gripper, and the gripping drive is an air pump.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application embodiment is: to provide a harvesting robot, including a movable chassis, a loading frame and a harvesting robotic arm as described in any one of the above, wherein the loading frame is disposed on the movable chassis, the robotic arm body of the harvesting robotic arm is disposed on the movable chassis, and the air supply device of the harvesting robotic arm is disposed on the movable chassis.

[0015] This application provides a harvesting robotic arm, including an air supply device, a robotic arm body, a gripping mechanism, a swinging mechanism, and an air nozzle device. The gripping mechanism is located at the end of the robotic arm body and is used to grip an object to be gripped. The swinging mechanism is located at the gripping mechanism, and the air nozzle device is located at the swinging mechanism. The air supply device is connected to the air nozzle device and is used to supply air to the air nozzle device. The air nozzle device is used to blow air onto the object obstructing the object to be gripped to expose the object. The gripping mechanism is used to grip the exposed object. The swinging mechanism drives the air nozzle device to swing, thereby adjusting the angle of the air blown onto the obstructing object. By incorporating a swing mechanism and an air nozzle assembly into the gripping mechanism, the robotic arm achieves single-arm collaborative operation capability. The swing mechanism can drive the air nozzle assembly to swing at multiple angles, enabling a wide-range fruit search without moving the entire robotic arm body. This improves operational efficiency and reduces the system energy consumption of the harvesting robotic arm. The air nozzle assembly uses an active blowing method to handle obstructions, effectively solving the technical problem that traditional visual recognition systems cannot penetrate leaf obstructions. The design of the swing mechanism allows the air nozzle assembly to flexibly adjust the blowing angle and direction, expanding the effective working range of the harvesting robotic arm and reducing the complex movement operations of the overall harvesting robot. This provides an efficient and reliable technical solution for modern precision agriculture. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0017] Figure 1 This is a schematic diagram of a harvesting robotic arm according to an embodiment of this application; Figure 2 yes Figure 1 Enlarged view of part A in the middle; Figure 3 This is an exploded view of the harvesting robotic arm according to an embodiment of this application; Figure 4 yes Figure 3 Enlarged view of part B in the middle; Figure 5 yes Figure 3 Another enlarged view of part B in the middle; Figure 6 This is another exploded view of the harvesting robotic arm according to an embodiment of this application; Figure 7 yes Figure 6 Enlarged view of part C in the middle; Figure 8 yes Figure 1 Another enlarged view of part A in the middle; Figure 9 This is a schematic diagram of another embodiment of the harvesting robotic arm of this application; Figure 10 yes Figure 9 Enlarged view of part D in the middle; Figure 11 yes Figure 9 Another enlarged view of part D in the middle; Figure 12 This is an exploded view of another embodiment of the harvesting robotic arm described in this application; Figure 13 yes Figure 12 Enlarged view of a section in central E; Figure 14 This is a flowchart of a fruit harvesting method according to an embodiment of this application; Figure 15 This is a further flowchart of step S101 in the embodiment of this application; Figure 16 This is a further flowchart of step S102 in the embodiment of this application; Figure 17 This is a further flowchart of step S103 in the embodiment of this application; Figure 18 This is another flowchart of a fruit harvesting method according to an embodiment of this application; Figure 19 This is a structural block diagram of the fruit harvesting device according to an embodiment of this application; Figure 20 This is a schematic diagram of the harvesting robot according to an embodiment of this application.

[0018] The reference numerals in the accompanying drawings of the specific embodiments are as follows: 100, harvesting robotic arm; 10, robotic arm body; 20, air supply device; 30, clamping mechanism; 31, base; 32, clamping finger; 33, clamping drive component; 40, swinging mechanism; 41, swinging seat; 411, first swinging part; 401, first through hole; 412, second swinging part; 413, third swinging part; 405, third through hole; 406, fourth through hole; 414, fourth swinging part; 42, first telescopic assembly; 421, first mounting component; 403, first insertion part; 422, first telescopic component; 43, second telescopic assembly; 431, second mounting component; 404, second insertion part; 432, second telescopic component; 44, third telescopic assembly; 441, third mounting component; 442, third telescopic component; 407, third insertion part; 408, fourth insertion part; 45. Fourth telescopic assembly; 451, Fourth mounting component; 452, Fourth telescopic component; 408, Fourth insertion part; 50, Air nozzle assembly; 51, Air nozzle; 60, Elastic conduit; 70, Protective assembly; 71, Switch drive component; 72, Rotating component; 73, Baffle; 80, Harvesting device; 81, Determining module; 82, First drive module; 83, Second drive module; 84, Third drive module; 85, Recycling module; 200, Harvesting robot; 201, Movable chassis; 202, Loading frame. Detailed Implementation

[0019] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "vertical," "horizontal," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0022] Please see Figure 1 and Figure 2 The harvesting robotic arm 100 includes: an air supply device 20, a robotic arm body 10, a clamping mechanism 30, a swinging mechanism 40, and an air nozzle assembly 50. The clamping mechanism 30 is located at the end of the robotic arm body 10 and is used to clamp the object to be clamped. In this application, the object to be clamped is fruit, therefore the clamping mechanism 30 performs the fruit clamping function. The swinging mechanism 40 is mounted on the clamping mechanism 30 and provides motion support for the air nozzle assembly 50. The air nozzle assembly 50 uses the airflow provided by the air supply device 20 to blow air directionally onto obstacles such as leaves that are obstructing the target object, thus exposing the hidden fruit. The swinging mechanism 40, as the motion control unit of the air nozzle assembly 50, can drive the air nozzle assembly 50 to swing within a preset angle range. Through the control of the swinging mechanism 40, the air nozzle assembly 50 can adjust the direction and angle of the airflow towards the obstruction to adapt to the need for clearing obstructions at different positions and angles. The angle range and speed of the swinging motion can be adjusted according to the specific working environment.

[0023] The air supply device 20, as the air source component, provides stable compressed air to the entire airflow system. The air supply device 20 includes an air pump (not shown), an air tank (not shown), and a pressure regulating valve (not shown). The air pump compresses outside air and stores it in the air tank. The pressure regulating valve adjusts the output air pressure according to operational requirements. The air supply device 20 is connected to the air nozzle assembly 50 via air pipes, forming a complete air transmission channel. The robotic arm body 10 includes multiple joints and links. Servo motors drive the movement of each joint, enabling precise positioning of the end effector in three-dimensional space. The robotic arm body 10 is made of lightweight aluminum alloy, reducing its weight while ensuring structural strength, thus improving motion response speed and positioning accuracy. A clamping mechanism 30 is installed at the end of the robotic arm body 10. The clamping mechanism 30 is used to clamp the object to be clamped. In this application, the object to be clamped is a fruit. Therefore, the clamping mechanism 30 undertakes the function of clamping the fruit. The clamping mechanism 30 is equipped with a clamping drive device inside. The clamping drive device controls the opening and closing action of the clamping mechanism 30. Through coordinated action, it can achieve adaptive clamping of fruits of different sizes. Preferably, the surface of the clamping mechanism 30 is covered with a soft silicone material to avoid damage to the fruit during the clamping process. The air nozzle assembly 50 is also set at the end of the robotic arm body 10. The air nozzle assembly 50 is connected to the air supply device 20 and receives the compressed air flow provided by the air supply device 20. The air nozzle assembly 50 is used to blow air onto the leaves that are blocking the fruit. The air flow blows the leaves open, exposing the fruit hidden behind the leaves.

[0024] In actual harvesting operations, once the harvesting robotic arm 100 reaches the target working position, the air nozzle assembly 50, driven by the swing mechanism 40, first blows air in a directional manner onto obstructions such as leaves and branches that are blocking the object to be clamped. The airflow causes the obstructions to shift, thereby exposing the hidden object to be clamped. After the obstructions are cleared, the clamping mechanism 30 clamps the exposed object, completing the harvesting action. Through the cooperation of the swing mechanism 40 and the air nozzle assembly 50, active obstruction handling capability is achieved. The harvesting robotic arm 100 can complete the removal of obstructions at different angles without significant overall position adjustments, improving work efficiency. The adjustable blowing angle design of the air nozzle assembly 50 enhances the system's adaptability to complex environments, providing a technical foundation for precise harvesting. The integrated design of the air supply device 20 and the air nozzle assembly 50 simplifies the system structure, reducing equipment complexity and maintenance costs.

[0025] Please see Figure 3 and Figure 4 The swing mechanism 40 includes a swing base 41, a first telescopic component 42, and a second telescopic component 43. The swing base 41 serves as a support platform for the nozzle assembly 50, providing a stable mounting foundation. One end of the first telescopic component 42 is rotatably connected to the swing base 41, and the other end of the first telescopic component 42 is mounted on a clamping mechanism 30. One end of the second telescopic component 43 is rotatably connected to the swing base 41, and the other end of the second telescopic component 43 is mounted on the clamping mechanism 30. The first telescopic component 42 and the second telescopic component 43 are arranged opposite each other in spatial layout, forming a symmetrical support structure. The nozzle assembly 50 is mounted on the swing base 41, and its position and angle are adjusted by the movement of the swing base 41.

[0026] The first telescopic component 42 and the second telescopic component 43 have independent extension and retraction control capabilities. When the first telescopic component 42 and the second telescopic component 43 perform synchronous extension actions, the swing seat 41, together with the nozzle assembly 50, extends forward, increasing the coverage distance of the blowing operation. When the first telescopic component 42 and the second telescopic component 43 perform synchronous retraction actions, the swing seat 41, together with the nozzle assembly 50, retracts backward, adjusting the distance from the target area.

[0027] When the first telescopic component 42 and the second telescopic component 43 perform differentiated actions, the swing seat 41 generates an angular deflection movement. Specifically, when the first telescopic component 42 extends while the second telescopic component 43 remains unchanged or retracts, the swing seat 41 deflects towards the second telescopic component 43. Conversely, when the second telescopic component 43 extends while the first telescopic component 42 remains unchanged or retracts, the swing seat 41 deflects towards the first telescopic component 42. Through the coordinated control of the two telescopic components, the air nozzle assembly 50 can achieve precise directional adjustment within a preset angle range.

[0028] In this embodiment, the design of the first telescopic component 42 and the second telescopic component 43 enables independent control of the nozzle assembly 50 in both telescopic and swinging motion dimensions. The telescopic characteristics of the first telescopic component 42 and the second telescopic component 43 adjust the working distance between the nozzle assembly 50 and the target area, while the swinging control of the first telescopic component 42 and the second telescopic component 43 adjusts the blowing direction of the nozzle assembly 50. These two control methods can be executed individually or in combination, providing flexible motion solutions for different operational needs.

[0029] For further information, please refer to [link / reference]. Figure 4 The swing mechanism 40 further includes a third telescopic component 44 and a fourth telescopic component 45. One end of the third telescopic component 44 is rotatably connected to the swing seat 41, and the other end of the third telescopic component 44 is installed on the clamping mechanism 30. One end of the fourth telescopic component 45 is rotatably connected to the swing seat 41, and the other end of the fourth telescopic component 45 is installed on the clamping mechanism 30. The spatial arrangement of the four telescopic components follows a perpendicular intersection principle: the first telescopic component 42 and the second telescopic component 43 are arranged opposite each other along a first direction, and the third telescopic component 44 and the fourth telescopic component 45 are arranged opposite each other along a second direction, wherein the first direction and the second direction are perpendicular. The first telescopic component 42, the second telescopic component 43, the third telescopic component 44, and the fourth telescopic component 45 form two independent control planes. The first telescopic component 42 and the second telescopic component 43 constitute the first control plane, which is responsible for controlling the telescopic and swinging motion of the nozzle assembly 50 in a first direction. The third telescopic component 44 and the fourth telescopic component 45 constitute the second control plane, which is responsible for controlling the telescopic and swinging motion of the nozzle assembly 50 in a second direction. The two control planes are perpendicular to each other and operate independently. In this embodiment, through the differentiated control of the first telescopic component 42, the second telescopic component 43, the third telescopic component 44, and the fourth telescopic component 45, the nozzle assembly 50 obtains omnidirectional motion capability in a two-dimensional plane. The motion of the first control plane and the motion of the second control plane can be performed simultaneously, realizing the complex motion trajectory of the nozzle assembly 50 in multiple directions. When the first and second telescopic components 43 perform swing control, the third and fourth telescopic components 45 perform swing control in another direction, enabling the nozzle assembly 50 to reach any angular position within the workspace.

[0030] For further details, please refer to Figure 5 , Figure 6 and Figure 7 The swing seat 41 is provided with a first swing part 411 and a second swing part 412. The first swing part 411 has a first through hole 401, which serves as the connection interface of the first telescopic component 42. The second swing part 412 has a second through hole (not shown), which serves as the connection interface of the second telescopic component 43. The first telescopic component 42 includes a first mounting member 421 and a first telescopic member 422. One end of the first telescopic member 422 is fixed to the clamping mechanism 30, and the other end of the first telescopic member 422 is rotatably connected to the first mounting member 421. The first telescopic member 422 performs the function of length adjustment. The first mounting member 421 serves as a connection medium and has a first insertion part 403 at its end. The first insertion part 403 has a cylindrical or other suitable geometric shape and can be rotatably inserted into the first through hole 401 to achieve a rotatable connection with the swing seat 41.

[0031] The second telescopic component 43 includes a second mounting member 431 and a second telescopic member 432. One end of the second telescopic member 432 is fixed to the clamping mechanism 30, and the other end of the second telescopic member 432 is rotatably connected to the second mounting member 431. The second mounting member 431 is provided with a second insertion part 404, which rotatably passes through the second through hole (not shown) to form a movable connection with the swing seat 41. The symmetrical design of the first telescopic component 42 and the second telescopic component 43 ensures the balance and stability of the movement of the swing seat 41.

[0032] In this embodiment, the first telescopic component 42 and the second telescopic component 43 can transmit the length change to the swing seat 41 to control the position and angle of the air nozzle component 50. The rotation accuracy of each plug-in connection point directly affects the positioning accuracy of the entire swing system. The high-precision plug-in fit ensures the repeatability and controllability of the swing motion.

[0033] Please refer to further reading Figure 5 and Figure 7 The swing base 41 is provided with a third swing part 413 and a fourth swing part 414. The third swing part 413 is provided with a third through hole 405, and the fourth swing part 414 is provided with a fourth through hole 406. The distribution of the four swing parts on the swing base 41 is coordinated with the spatial layout of the corresponding telescopic components, forming a stable four-point connection structure. Appropriate structural spacing is maintained between each swing part to avoid motion interference between adjacent connecting components.

[0034] The third telescopic component 44 includes a third mounting member 441 and a third telescopic member 442. One end of the third telescopic member 442 is fixed to the clamping mechanism 30, and the other end of the third telescopic member 442 is rotatably connected to the third mounting member 441 to realize length adjustment and angle transmission. Furthermore, the third mounting member 441 is provided with a third insertion part 407, which is rotatably inserted through the third through hole 405 to establish a rotatable connection with the swing seat 41.

[0035] The fourth telescopic component 45 includes a fourth mounting member 451 and a fourth telescopic member 452. One end of the fourth telescopic member 452 is fixed to the clamping mechanism 30, and the other end of the fourth telescopic member 452 is rotatably connected to the fourth mounting member 451. The fourth mounting member 451 is provided with a fourth insertion part 408, which rotatably passes through the fourth through hole 406. The third telescopic component 44, the fourth telescopic component 45, the first telescopic component 42, and the second telescopic component 43 are arranged vertically in space to form a complete quadrilateral support frame.

[0036] In this embodiment, the plug-in connection system of the first telescopic component 42, the second telescopic component 43, the third telescopic component 44, and the fourth telescopic component 45 enables high-precision composite motion control of the nozzle assembly 50 in two vertical planes. The length adjustment accuracy of each telescopic component is transmitted to the swing seat 41 through the plug-in connection, enabling the nozzle assembly 50 to reach any position in the workspace.

[0037] In this embodiment, the harvesting robotic arm 100 further includes an elastic conduit 60, through which the air nozzle assembly 50 is connected to the air supply device 20. The elastic conduit 60 is made of a high-polymer elastic material, possessing excellent flexibility and elastic deformation capability. Preferably, both ends of the elastic conduit 60 are equipped with dedicated connecting joints to achieve reliable connection with the air supply device 20 and the air nozzle assembly 50. The connecting joint at the air supply device 20 end adopts a standardized quick-connect structure for easy installation and maintenance. Considering the influence of swinging motion, the connecting joint at the air nozzle assembly 50 end adopts a rotary joint or universal joint design to avoid excessive torsional stress during the conduit's swinging process. Preferably, the connecting joint of the elastic conduit 60 is equipped with a sealing ring or sealing gasket to ensure the sealing performance of the air circuit system. The conduit material is selected to have good pressure resistance characteristics, capable of withstanding the working pressure output by the air supply device 20 without rupture or deformation. The pressure resistance rating design of the elastic conduit 60 has an appropriate safety margin, improving the system's reliability and service life.

[0038] In this embodiment, the swing mechanism 40 further includes an elastic mesh. One end of the elastic mesh is fixed to the swing seat 41, and the other end is fixed to the clamping mechanism 30. The elastic mesh surrounds the portion of the elastic conduit 60 located between the clamping mechanism 30 and the swing seat 41. The elastic mesh adopts a mesh structure design, possessing good flexibility and breathability. The elastic mesh surrounds the portion of the elastic conduit 60 located between the clamping mechanism 30 and the swing seat 41, forming a complete protective space.

[0039] In this embodiment, the number of swing mechanisms 40 is multiple. Preferably, in this embodiment, the number of swing mechanisms 40 is three, which are evenly distributed along the circumference of the clamping mechanism 30, with an angular interval of 120 degrees between adjacent swing mechanisms 40. The first swing mechanism is installed at the front of the clamping mechanism, the second swing mechanism is installed at a 60-degree position to the left front, and the third swing mechanism is installed at a 60-degree position to the right front. The mounting base of each swing mechanism is rigidly connected to the clamping mechanism 30, ensuring that the three swing mechanisms 40 have a unified motion reference. Each swing mechanism 40 is equipped with an independent air nozzle assembly 50, forming three airflow output units. The three air nozzle assemblies 50 have the same model and specifications, and have the same airflow output characteristics and control precision. Each air nozzle assembly 50 is connected to the air supply device 20 through an independent elastic conduit 60 to achieve independent airflow supply and control. The three air nozzle assemblies 50 can work simultaneously or independently, and can be flexibly configured according to operational requirements.

[0040] In this embodiment, the three-oscillating mechanism 40 system provides a more precise airflow angle adjustment capability. The combined operation of any two oscillating mechanisms 40 can generate a synthetic airflow effect. By adjusting the angle and airflow intensity of each oscillating mechanism 40, the direction and intensity of the synthetic airflow can be precisely controlled. All combined operating modes of the three oscillating mechanisms 40 can generate complex airflow distribution patterns, adapting to the need to clear obstructions of different shapes and distributions. Furthermore, the three-oscillating mechanism 40 significantly expands the coverage area of ​​the airflow operation. The operating fan-shaped area of ​​a single oscillating mechanism 40 overlaps with the operating areas of the other two oscillating mechanisms 20, eliminating blind spots. The three oscillating mechanisms 40 can fully cover the approximately hemispherical space in front of the clamping mechanism, adapting to complex obstruction distributions. The airflow superposition effect in the overlapping area enhances the obstacle clearing capability and improves operational efficiency.

[0041] Furthermore, the three-oscillating mechanism 40 system provides more precise airflow angle adjustment capabilities. The combined operation of any two oscillating mechanisms 40 can generate a synergistic airflow effect; by adjusting the angle and airflow intensity of each oscillating mechanism 40, the direction and intensity of the synergistic airflow can be precisely controlled. All combined operating modes of the three oscillating mechanisms 40 can generate complex airflow distribution patterns to adapt to the needs of clearing obstructions of different shapes and distributions. When one oscillating mechanism 40 fails, the other two oscillating mechanisms 40 can still maintain basic operational capabilities, ensuring the continuity of harvesting operations. The independent design of the three oscillating mechanisms 40 makes fault isolation and maintenance replacement more convenient, reducing system maintenance costs and downtime.

[0042] In the embodiments of this application, please refer to Figure 9 , Figure 10 and Figure 11 For details, please refer to Figure 11The nozzle assembly 50 includes multiple nozzles 51, which are arranged in a ring at intervals around the circumference of the nozzle assembly 50. This ring arrangement ensures that the airflow can evenly cover the area around the clamping mechanism 30, effectively addressing blade obstruction from different directions. The flow channels of the nozzles 51 are inclined, specifically, the air outlet direction of the nozzles 51 is inclined at a certain angle relative to the axis of the nozzle assembly 50, causing the airflow ejected by each nozzle 51 to form a conical diffusion state in space. The flow channels of the multiple nozzles 51 constitute an outward scattering layout. The airflow diffuses from the central area to the surrounding areas, forming an effective coverage area pushed by the blades. The flow channels of multiple air nozzles 51 form an outward scattering layout. First, the coverage area of ​​the diffused airflow is much larger than that of a single-point direct airflow, which can handle the shading of the blades in multiple directions at the same time. Second, the pressure of the scattered airflow gradually decreases during propagation, avoiding excessive impact on the fruit and causing damage. Finally, the annular scattering design works well with the clamping mechanism 30, and the airflow passes through the gaps of the clamping fingers 32 of the clamping mechanism 30 without interfering with the execution of the clamping action.

[0043] In the embodiments of this application, please continue to refer to Figure 11 The air supply device 20 includes multiple air supply mechanisms 21, each connected to an air nozzle 51. Each air supply mechanism 21 is equipped with an independent flow regulating device and a pressure control device to achieve precise control of the air supply parameters for each air nozzle 51. Alternatively, the harvesting robotic arm 100 also includes multiple air valves (not shown), all connected to the air supply device 20, each connected to an air nozzle 51, and all connected to the main air source pipeline of the air supply device 20. Each air valve independently controls the airflow status of one air nozzle 51. Preferably, the air valves are electromagnetically driven, providing a fast response time and enabling millisecond-level opening and closing actions. This configuration of one air valve connected to one air nozzle 51 ensures the independence and accuracy of control. When the fruit is only obstructed by leaves in a specific direction, the air nozzle assembly 50 can selectively activate the corresponding air nozzle 51 to avoid unnecessary airflow consumption. When the degree of leaf obstruction varies, the air nozzle assembly 50 can adjust the air pressure of different air nozzles 51 to achieve precise local airflow control. When the clamping mechanism 30 approaches the fruit, the air nozzle assembly 50 can gradually close unnecessary air nozzles 51 to reduce airflow interference to the fruit and improve the clamping success rate. By setting up multiple air supply mechanisms 21 or multiple air valves, precise airflow control and efficient energy utilization are achieved, providing a more intelligent and economical solution for complex agricultural harvesting environments.

[0044] In the embodiments of this application, please refer to... Figure 10The harvesting robotic arm 100 also includes a protective component 70, which is disposed at the end of the robotic arm body 10. The protective component 70 is used to open or close the plurality of air nozzles 5151, protect the plurality of air nozzles 5151 from external debris when the air nozzle assembly 50 is not working, and open the air nozzle 51 channel in time when needed.

[0045] For details, please refer to Figure 10 and Figure 11The protective component 70 includes a switch drive 71, a rotating component 72, and multiple baffles 73. The switch drive 71 is located at the end of the robotic arm body 10 and uses a micro motor as its power source. The micro motor is characterized by its small size, low power consumption, and fast response, and can provide sufficient driving torque within a limited installation space. The rotating component 72 is connected to the switch drive 71 and has a disc-shaped structure. A bearing is set at the center of the disc to ensure the smoothness and accuracy of the rotational movement. Multiple baffles 73 are distributed at intervals along the circumference of the rotating component 72, and the number of baffles 73 corresponds to the number of air nozzles 51. The baffles 73 adopt a fan-shaped structure design, which can completely cover the opening of the corresponding air nozzle 51 without interfering with adjacent baffles 73. Preferably, the baffles 73 are made of lightweight, high-strength engineering plastic, and the surface is treated to improve wear resistance and sealing performance. After receiving a control signal, the switch drive 71 drives the rotating component 72 to rotate in a preset direction. The rotating component 72 drives multiple baffles 73 to rotate synchronously, changing the relative position between the baffles 73 and the air nozzles 51. When the baffles 73 and the air nozzles 51 are misaligned, the air outlet passage of the air nozzles 51 is fully exposed, allowing compressed air to be ejected smoothly. When the baffles 73 overlap with the air nozzles 51, the baffles 73 completely block the opening of the air nozzles 51, preventing airflow and preventing external debris from entering. One baffle 73 corresponds to the physical blocking of one air nozzle 51. All baffles 73 achieve unified synchronous movement through the rotating component 72. When the rotating component 72 rotates to the position where all the baffles 73 are misaligned, all air nozzles 51 open simultaneously. When the rotating component 72 rotates to the position where all the baffles 73 overlap, all air nozzles 51 close simultaneously. This prevents external debris from entering all air nozzles 51 when the air nozzle assembly 50 is not working, and opens the passages of all air nozzles 51 simultaneously when the system needs to work. It should be noted that multiple independent air valves are installed on the air path branches from the main air supply device 20 to each air nozzle 51, with each valve controlling the on / off state of a separate air path. The air valves are electromagnetically driven, allowing the robotic arm to selectively open or close air nozzles 51 in specific directions based on the location and degree of leaf obstruction. When leaves obstruct the fruit's left side, the air supply device 20 only opens the left-side air nozzle 51 for localized treatment. When obstruction occurs in multiple directions simultaneously, the air supply device 20 can activate multiple air nozzles 51 simultaneously and adjust their operating intensity individually. When the clamping mechanism 30 approaches the fruit to perform the clamping action, the air supply device 20 can gradually reduce or shut off the airflow output to prevent airflow from interfering with clamping accuracy.

[0046] In this embodiment, the mechanical shielding of the protective component 70 provides a reliable sealing effect, effectively preventing dust, moisture, and plant debris from entering the air nozzle 51. Secondly, the rotary switch mechanism enables simultaneous control of multiple air nozzles 51, simplifying the complexity of the control system. Finally, the gap between the baffle 73 and the air nozzle 51 is precisely controlled, ensuring effective shielding while avoiding wear caused by excessive friction.

[0047] Please reconsider. Figure 10 The air nozzle assembly 50 is located in the middle of the clamping mechanism 30. The clamping assembly includes a base 31, multiple gripping fingers 32, and a clamping drive component 33. The base 31 is located at the end of the robotic arm body 10. The base 31 has a circular or polygonal cross-section design, providing ample installation space for the gripping fingers 32 and the drive mechanism. The base 31 contains a complete transmission system and control circuitry to realize power transmission and signal communication for the robotic arm body 10. Multiple gripping fingers 32 are located on the end surface of the base 31 facing away from the robotic arm body 10. The number of gripping fingers 32 is typically three or four, distributed at equal angular intervals around the circumference of the base 31. The gripping fingers 32 have an arc or straight design. Preferably, the surface of the gripping fingers 32 is covered with a soft material with a high coefficient of friction to ensure a stable grip on the fruit while avoiding surface damage. The gripping fingers 32 are connected to the base 31 via a hinge mechanism, enabling them to open and close in the radial plane. The clamping drive 33 is disposed inside the base 31, providing opening and closing power for multiple clamping fingers 32. Preferably, the clamping drive 33 is pneumatically or electrically driven, transmitting power to each clamping finger 32 through a linkage mechanism or gear transmission system. The drive system design ensures that all clamping fingers 32 can move synchronously and in a coordinated manner, forming sufficient gripping space in the open state and providing appropriate clamping force in the closed state. The multiple clamping fingers 32 are radially distributed around the air nozzle assembly 50, and the gaps between the clamping fingers 32 provide a smooth jet channel for airflow. The annular air nozzle 51 layout of the air nozzle assembly 50 is coordinated with the annular distribution of the clamping fingers 32, ensuring that the airflow can be smoothly ejected from the gaps between the clamping fingers 32 without being obstructed by the mechanical structure.

[0048] When the clamping mechanism 30 is in the open state, the clamping fingers 32 expand outward to form an open grasping space, and the air nozzle assembly 50 is fully exposed in the central area enclosed by the clamping fingers 32. At this time, multiple air nozzles 51 can spray airflow in all directions without obstruction, forming a complete blade-opening coverage area. While the airflow diffuses from the center outward, it will not interfere with or affect the already opened clamping fingers 32. After the blades are blown open by the airflow and the fruit is fully exposed, the clamping mechanism 30 begins to perform the clamping action. Multiple clamping fingers 32 retract from the open position towards the center, gradually surrounding the target fruit. During the retraction of the clamping fingers 32, the working intensity of the air nozzle assembly 50 can be adjusted accordingly to avoid excessive airflow affecting the clamping accuracy. When the clamping fingers 32 are completely closed and clamp the fruit, the air nozzle assembly 50 stops working, and the entire picking action is completed.

[0049] In this embodiment, the clamping finger 32 is a pneumatic clamping finger 32, and the clamping drive 33 is an air pump.

[0050] In the embodiments of this application, please continue to refer to Figure 13The base 31 has a groove 301 on its end surface opposite to the robotic arm body 10. The protective component 70 is located inside the groove 301, enabling the protective component 70 to cooperate with the clamping mechanism 30. The groove 301 provides an accurate positioning reference for the protective component 70, allowing the switch drive component 71, the rotating component 72, and multiple baffles 73 to work stably within a preset space range, avoiding motion interference or functional abnormalities caused by installation errors. Furthermore, the sidewall of the groove 301 forms a natural protective barrier, preventing external debris from directly contacting the moving parts of the protective component 70, thus extending the service life of the mechanical structure. The rotating component 72 achieves smoother rotation under the constraint of the groove 301. When the protective component 70 needs to be inspected, cleaned, or replaced, technicians can directly access the relevant components by disassembling items such as the groove 301 cover, without disassembling the entire robotic arm. The design of the groove 301 provides ample operating space for the use of maintenance tools.

[0051] In this embodiment, the harvesting robotic arm 100 further includes a camera device (not shown) and a controller (not shown). The camera device is located at the end of the robotic arm body 10 and is used to acquire images of the object to be clamped. Preferably, the camera device uses a high-resolution digital image sensor with automatic focusing and exposure adjustment functions, enabling it to acquire clear images of fruits and leaves under different lighting conditions. The camera device is equipped with a wide-angle lens system, with a field of view covering the entire working area of ​​the clamping mechanism 30, ensuring comprehensive monitoring of all aspects of the harvesting process. The controller is connected to the camera device, the clamping mechanism 30, and the air supply device 20. The controller is used to identify the exposure information of the object to be clamped based on the images and to control the clamping mechanism 30 and the air supply device 20 based on the exposure information. Preferably, the controller has a built-in high-performance image processing chip and an artificial intelligence algorithm module, enabling real-time image analysis and decision-making capabilities. The controller is connected to the camera device via a dedicated data cable to receive continuous high-definition image data streams. Simultaneously, the controller establishes bidirectional communication with the clamping mechanism 30 and the air supply device 20 via a control bus.

[0052] This application provides a harvesting robotic arm 100, including an air supply device 20, a robotic arm body 10, a clamping mechanism 30, a swinging mechanism 40, and an air nozzle assembly 50. The clamping mechanism 30 is disposed at the end of the robotic arm body 10 and is used to clamp an object to be clamped. The swinging mechanism 40 is disposed on the clamping mechanism 30, and the air nozzle assembly 50 is disposed on the swinging mechanism 40. The air supply device 20 is connected to the air nozzle assembly 50 and is used to supply air to the air nozzle assembly 50. The air nozzle assembly 50 is used to blow air onto an object obstructing the object to be clamped to expose the object. The clamping mechanism 30 is used to clamp the exposed object. The swinging mechanism 40 drives the air nozzle assembly 50 to swing, thereby adjusting the airflow towards the obstructing object. By setting a swing mechanism 40 and an air nozzle assembly 50 on the clamping mechanism 30, the single-arm collaborative operation capability of the robotic arm is realized. The swing mechanism 40 can drive the air nozzle assembly 50 to swing at multiple angles, enabling a wide range of fruit search without moving the entire robotic arm body 10, thus improving work efficiency and reducing the system energy consumption of the harvesting robotic arm 100. The air nozzle assembly 50 uses an active blowing method to handle obstructions, effectively solving the technical problem that traditional visual recognition systems cannot penetrate leaf obstructions. The design of the swing mechanism 40 allows the air nozzle assembly 50 to flexibly adjust the blowing angle and direction, expanding the effective working range of the harvesting robotic arm 100 and reducing the complex movement operations of the overall harvesting robot 200, providing an efficient and reliable technical solution for modern precision agriculture.

[0053] This application also provides an embodiment of a harvesting robot; please refer to [link / reference]. Figure 20 The harvesting robot 200 includes a movable chassis 201, a loading frame 202, and a harvesting robotic arm 100. The movable chassis 201 serves as the mobile carrier for the entire harvesting robot 200. The loading frame 202 is mounted on the movable chassis 201 and is used to collect and store the harvested fruit. The robotic arm body 10 of the harvesting robotic arm 100 is mounted on the movable chassis 201, and the air supply device 20 is also mounted on the movable chassis 201. The harvesting robot 200 first moves to the target harvesting area and accurately positions itself. The robotic arm performs fruit recognition and harvesting actions. The air supply device 20 provides a stable air source for the air nozzle assembly 50. The loading frame 202 receives and stores the harvested fruit. When the loading frame 202 is close to full, the harvesting robot 200 automatically returns to the designated unloading point for fruit transfer.

[0054] For the structure and function of the harvesting robotic arm, please refer to the above embodiments, which will not be repeated here.

[0055] Furthermore, the harvesting robot also includes a controller, which is mounted on a movable chassis. The controller includes at least one processor and a memory. The at least one processor is communicatively connected to the memory, a gripping mechanism, an air supply device, and a camera device. The memory stores instructions that can be executed by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform a fruit harvesting method.

[0056] Memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to a fruit-harvesting method in the embodiments of this application. Processing executes various server functions and data processing by running the non-volatile software programs, instructions, and modules stored in the memory, thereby implementing the fruit-harvesting method described in the following method embodiment.

[0057] The memory may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of a fruit-picking device, etc. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to a fruit-picking device described below via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0058] The one or more modules are stored in the memory, and when executed by the one or more processors, they execute a fruit picking method in any of the above method embodiments, for example, and execute a fruit picking device.

[0059] The above-mentioned products can perform the methods provided in the embodiments of this application, and have the corresponding functional modules and beneficial effects of performing the methods. For technical details not described in detail in this embodiment, please refer to the methods provided in the embodiments of this application.

[0060] This application also provides a non-volatile computer-readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, performing the steps of a fruit picking method described above, and performing the following fruit picking method.

[0061] This application also provides a computer program product, including a computing program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions that, when executed by a computer, cause the computer to perform a fruit-picking method according to any of the following method embodiments, such as performing the above method steps and performing the above-described fruit-picking apparatus.

[0062] Please see Figure 14 This application also provides a fruit harvesting method, the method comprising the following steps: Step S101: Determine the hidden fruits hidden in the area to be picked, and the hiding location of the hidden fruits; After the harvesting robot has picked all the visible fruit in the designated harvesting area, it begins the process of searching for and locating hidden fruit. The camera system includes an image recognition system and an image acquisition system. The camera system first performs a comprehensive scan of the entire harvesting area to acquire complete image information of the area. Through image recognition algorithms, the system analyzes areas with dense leaf cover to identify the locations where hidden fruit may exist.

[0063] The harvesting robotic arm activates the air supply device, providing airflow to the air nozzle 51 assembly. Under the controller's command, the robotic arm moves the air nozzle 51 assembly along a preset path, traversing the harvesting area. During this traversal, the air nozzle 51 assembly continuously delivers airflow to areas with dense leaflets, while a camera device simultaneously captures image data in real time.

[0064] When airflow acts on the leaves, fruits that were originally hidden may be exposed due to the movement of the leaves. The image recognition system continuously monitors changes within its field of view, and once fruit features are detected, it immediately records the spatial coordinates of the fruit to determine the exact location of the hidden fruit.

[0065] Step S102: Drive the harvesting robotic arm so that the air nozzle 51 assembly blows air directly at the hidden location to expose the hidden location; After determining the location of the hidden fruit, the harvesting robot calculates the movement path of the harvesting arm and drives the arm to move, ensuring that the air nozzle 51 component is precisely aligned with the identified hidden location. The coordinated movement of multiple joints of the harvesting arm ensures that the air nozzle 51 component can be aligned with the target location at the optimal angle and distance.

[0066] The air supply device provides a stable airflow to the air nozzle 51 assembly according to preset parameters. The airflow is ejected from the air nozzle 51 assembly and acts directly on the leaves surrounding the hidden fruit. The continuous airflow causes the obscuring leaves to shift outward, gradually exposing the hidden location.

[0067] During the air blowing process, the camera continuously monitors the changes in the target area. The image processing system analyzes the movement of the leaves and the degree of fruit exposure. When it detects that the hidden fruit is fully exposed and its position is stable, it confirms that the exposure operation has been successfully completed.

[0068] Step S103: Drive the picking robotic arm to move toward the hidden position until the gripping mechanism reaches the hidden position; After the hidden location is successfully revealed, the harvesting robot replans the movement trajectory of its robotic arm. Based on the precise coordinates of the exposed fruit, it calculates the optimal path from the current position to the target location. Path planning takes obstacle avoidance requirements into account, ensuring that the robotic arm does not collide with surrounding branches or other obstacles during its movement.

[0069] The robotic arm's joints begin to move in a coordinated manner according to the calculated motion commands. During the movement, the air supply device continues to operate, and the air nozzle 51 component continuously supplies air to the target area, keeping the leaves in an offset state and preventing the fruit from being blocked again.

[0070] The camera continuously tracks the position of the target fruit during the movement of the robotic arm. If the system detects any movement of the fruit, it promptly adjusts the robotic arm's trajectory to ensure that the gripping mechanism accurately reaches the fruit.

[0071] When the gripping mechanism reaches the predetermined position, that is, when the distance to the target fruit meets the requirements for gripping operation, the picking robot arm stops moving to prepare for subsequent gripping operations.

[0072] Step S104: Drive the clamping mechanism to clamp the hidden fruit and control the air supply device to stop supplying air; Once the gripping mechanism reaches its concealed position, it begins the fruit gripping operation. The gripping fingers automatically adjust their opening according to the size and shape of the fruit, ensuring a secure grip without damaging it.

[0073] The gripping mechanism's fingers slowly close, gradually enveloping the target fruit. Force sensors monitor the gripping force, and when a preset gripping force threshold is reached, it confirms the fruit is securely held. At this point, the harvesting robot immediately issues a command to stop the air supply device from supplying air to the air nozzle 51 assembly.

[0074] After the air supply is stopped, the surrounding leaves gradually return to their original positions under the influence of gravity and elasticity. Since the fruit is firmly fixed by the clamping mechanism, the recovery of the leaves will not affect the harvesting operation.

[0075] Step S105: Drive the clamping mechanism to retract, so as to harvest the hidden fruit.

[0076] Once the fruit is successfully gripped, the robotic arm drives the gripping mechanism to begin the retraction process. The coordinated movements of the robotic arm's joints propel the gripping mechanism along a predetermined trajectory away from the harvesting area, avoiding unnecessary contact with surrounding branches and leaves. During retraction, the gripping mechanism maintains a stable hold on the fruit. A force feedback system continuously monitors the gripping status to ensure the fruit does not fall off or become damaged during transport.

[0077] When the clamping mechanism moves to the predetermined fruit collection position, the harvesting of a single hidden fruit is completed. The fruit can be placed in the harvesting basket or transported to the designated collection area. The air blowing function of the air nozzle 51 component successfully solves the problem of hidden fruits that are difficult to handle with traditional harvesting methods, improving the comprehensiveness and thoroughness of harvesting.

[0078] Please see Figure 15 In some embodiments, step S101, which involves determining hidden fruits within the harvesting area and the location of the hidden fruits, further includes: Step S111: After all the fruits exposed in the harvesting area have been harvested, control the air supply device to supply air to the air nozzle 51 assembly. After all the exposed fruit in the harvesting area has been picked, the harvesting robot issues a command to control the air supply device to begin supplying air to the air nozzle 51 assembly. Upon receiving the start signal, the air supply device activates its internal air pump or compressor, generating a stable airflow. The airflow is delivered from the air supply device to the air nozzle 51 assembly, which is installed at the end of the robotic arm, via a connecting pipe. Upon receiving the airflow, the air nozzle 51 assembly directs the airflow out through its outlet. The initial airflow intensity is set to a preset base wind speed level, effectively driving the blades while avoiding excessive impact on the fruit.

[0079] The operating parameters of the gas supply unit can be adjusted according to actual needs. The system's built-in pressure sensor monitors pressure changes in the gas path in real time, ensuring stable airflow output. A temperature sensor monitors the operating temperature of the gas supply unit to prevent overheating and ensure normal operation.

[0080] Step S112: After the air supply device supplies air to the air nozzle 51 assembly, drive the harvesting robotic arm so that the air nozzle 51 assembly sequentially traverses the harvesting area. After the air supply device supplies air to the air nozzle 51 assembly, the harvesting robot drives the harvesting robotic arm to move, causing the air nozzle 51 assembly to traverse the harvesting area in sequence. The motion control system of the robotic arm calculates the motion angle and speed of each joint according to the preset traversal path plan.

[0081] The traversal process employs a systematic scanning pattern. The harvesting robotic arm first moves the nozzle 51 assembly to a boundary position of the area to be harvested, and then moves the nozzle 51 assembly along a predetermined trajectory throughout the entire area at set intervals and speeds. The traversal trajectory can be grid-like, spiral-shaped, or other path patterns that ensure full coverage of the area.

[0082] During the harvesting process, the air nozzle 51 continuously ejects airflow. This airflow acts on areas with densely packed leaves, causing the previously stationary leaves to move. Fruits partially obscured by the leaves may be exposed due to this movement. The harvesting robot's movement speed is designed to ensure sufficient time for the airflow to take effect while maintaining reasonable efficiency.

[0083] Step S113: During the process of the air nozzle 51 component sequentially traversing the picking area, the presence of hidden fruits is identified based on the images captured by the camera device; The camera system operates continuously throughout the entire traversal, capturing images of the harvested area at a preset frame rate. The image processing system analyzes the captured images in real time. First, the system preprocesses the images, including noise reduction, contrast enhancement, and color correction, to improve image quality. Then, a fruit recognition algorithm is used to search for regions in the image that match the characteristics of the target fruit.

[0084] Fruit recognition algorithms are based on multiple feature parameters such as color, shape, and texture. These algorithms can distinguish between ripe and unripe fruits, fruits and leaves, and fruits and branches. When airflow causes leaves to move, previously obscured fruit areas may change in the image; the fruit recognition algorithm can capture these newly appearing fruit features.

[0085] To improve recognition accuracy, the image recognition system employs a continuous frame image comparison analysis method. By comparing images at adjacent time points, changes within a region are detected. When a significant change in fruit characteristics occurs at a certain location before and after leaf movement, the image recognition system determines that a hidden fruit may exist at that location.

[0086] Step S114: If it exists, locate the hidden location of the hidden fruit.

[0087] When the image recognition system confirms the presence of hidden fruit within the harvesting area, it begins to pinpoint the hidden location of the fruit. This location process combines image information with the spatial coordinate system of the harvesting robotic arm.

[0088] The image coordinates acquired by the camera device need to be converted into three-dimensional coordinates within the workspace of the harvesting robot arm. The camera device uses pre-calibrated internal and external parameters to establish a transformation relationship between the image coordinate system and the harvesting robot arm's coordinate system. Through coordinate transformation calculations, the position of the hidden fruit within the harvesting robot arm's workspace is determined.

[0089] The image recognition system employs multi-view image fusion to improve positioning accuracy. Images of the target area are acquired from different angles, and the spatial coordinates of the fruit are calculated using a 3D reconstruction algorithm. Distance information provided by a depth sensor further enhances the accuracy of position measurement. Furthermore, the image recognition system stores the determined location information of hidden fruits in memory, providing target coordinates for subsequent harvesting operations. Position information includes parameters such as the fruit's 3D coordinates, orientation angle, and size estimation, providing necessary data support for planning the clamping operation of the gripping mechanism.

[0090] In this embodiment, after the hidden location is fully exposed, the system executes the subsequent steps of step S101. The harvesting robotic arm moves towards the hidden location until the gripping mechanism reaches it. During the movement of the harvesting robotic arm, the air supply device continues to operate, maintaining the offset state of the leaves and preventing the fruit from being obscured again. After the gripping mechanism reaches the target position, it begins to perform the gripping action. The gripping fingers of the gripping mechanism automatically adjust the opening according to the fruit size, and then slowly close to grip the fruit. A force sensor monitors the gripping force to ensure that the fruit is firmly gripped without causing damage. When the gripping mechanism successfully grips the hidden fruit, the control system of the harvesting robotic arm immediately controls the air supply device to stop supplying air. After the air supply stops, the surrounding leaves gradually return to their natural state under the action of gravity and elasticity. Finally, the harvesting robotic arm drives the gripping mechanism to retract, completing the harvesting of the hidden fruit. The gripping mechanism, carrying the harvested fruit, moves along a predetermined trajectory to the collection position, placing the fruit in the harvesting basket or a designated collection area, completing the entire harvesting cycle.

[0091] Please see Figure 16 In some embodiments, step S102: the step of driving the harvesting robotic arm to blow air into the hidden location so that the air nozzle 51 assembly is facing the hidden location to expose the hidden location includes further comprising: Step S211: Drive the harvesting robotic arm so that the air nozzle 51 assembly is facing the hidden position; Once the harvesting robotic arm determines the coordinates of the hidden fruit, it issues a movement command, driving the arm to move towards the target location. Multiple joints of the robotic arm coordinate their movements according to a calculated trajectory, ensuring the air nozzle 51 component accurately reaches its predetermined position. During the arm's movement, position feedback sensors monitor the angle changes of each joint in real time, ensuring the accuracy of the trajectory. As the air nozzle 51 component approaches the hidden location, the robot switches to a precise positioning mode, reducing its speed and increasing position control accuracy. Ultimately, the robotic arm drives the air nozzle 51 component to the optimal blowing position directly opposite the hidden fruit. The position control system confirms that the air outlet direction of the air nozzle 51 component forms an appropriate angle and distance with the leaf area surrounding the hidden fruit, creating optimal conditions for subsequent blowing operations.

[0092] Step S212: Control the air supply device to supply air to the air nozzle 51 assembly at a preset wind speed level; After the air nozzle 51 component is positioned, the harvesting machine arm control system immediately controls the air supply device to supply air to the air nozzle 51 component at a preset wind speed level. The preset wind speed level is set in advance based on factors such as fruit tree variety, leaf density, and seasonal environment, and a medium intensity is usually selected as the starting wind speed.

[0093] After receiving the wind speed command, the air supply device adjusts the internal airflow control valves and compressor speed to generate airflow output of corresponding intensity. The airflow is transmitted to the air nozzle 51 assembly through the connecting pipe and is then directionally ejected from the outlet of the air nozzle 51.

[0094] It should be noted that the selection of the initial wind speed level is crucial. Too little wind may prevent the leaves from effectively exposing the fruit, while too much wind may cause the fruit to sway violently or fall off. The preset wind speed level serves as an empirical reference value, providing a reasonable starting point for subsequent dynamic adjustments.

[0095] Step S213: After a preset duration, identify whether the hidden fruit is exposed; The air nozzle 51 assembly begins blowing air continuously towards the concealed location at a preset wind speed. A timer built into the harvesting robotic arm begins recording the blowing duration; once the preset duration is reached, the exposure detection program automatically activates. The preset duration is designed to take into account the time characteristics of the blades' response to the airflow, ensuring sufficient time for the airflow to take effect.

[0096] Throughout the air blowing process, the camera continuously acquires image information of the target area. The image processing system analyzes the acquired images in real time, focusing on monitoring changes in the hidden areas. As the leaves move under the influence of the airflow, previously obscured fruit areas may gradually become visible. The exposure state detection algorithm identifies newly appearing fruit features within the target area by comparing the differences between the images before and after air blowing. The algorithm employs multiple techniques, including shape recognition, color analysis, and edge detection, to improve the accuracy and reliability of fruit exposure state determination.

[0097] Step S214: If the hidden fruit is not exposed, then identify whether the air supply device has reached the maximum wind force level; Once the preset time has elapsed, the image recognition system immediately performs a judgment on the exposure status of the hidden fruit. If the image analysis results indicate that the hidden fruit has not been fully exposed, the image recognition system enters the wind force adjustment procedure.

[0098] First, the control system of the harvesting robotic arm checks whether the current air supply device has reached the preset maximum airflow level. The air supply device has multiple adjustable airflow levels, each corresponding to a different airflow intensity output. The maximum airflow level represents the maximum airflow intensity that the air supply device can provide within its safe operating range.

[0099] Step S215: If the air supply device does not reach the maximum wind force level, the wind force level of the air supply device is increased by one level, and the process returns to the step of identifying whether the hidden fruit is exposed after a preset duration, until the hidden fruit is identified as exposed. If the current wind force level is not at its maximum, the control system of the harvesting robot arm will execute a wind force level increase operation. The controller of the harvesting robot arm sends a wind force adjustment command to the air supply device, increasing the wind force level by one level from the current level. After responding to the command, the air supply device increases the airflow output intensity, and the air nozzle 51 component sprays a stronger airflow onto the target area.

[0100] Once the wind force level is increased, the control system of the harvesting robotic arm restarts the timer and continues blowing air at the new wind force level for a preset duration. After the duration ends, the system checks the exposure status of the hidden fruit again. If the fruit is still not exposed and the wind force level has not reached its maximum value, the system will increase the wind force level again, forming a cyclical adjustment process.

[0101] Step S216: If the hidden fruit is exposed, then fix the current wind speed level of the air supply device.

[0102] When the system detects that the hidden fruit has been successfully exposed, it immediately executes a wind speed fixation operation. The current wind speed of the air supply device is fixed, and further wind speed adjustments are stopped to ensure the stable maintenance of the exposure state.

[0103] In this embodiment of the application, step S217 is also included: if the wind force level reaches the preset maximum wind force level and the fruit is still not exposed, a harvesting failure alarm message is sent to an external device, and the harvesting failure alarm message includes the hidden location of the hidden fruit.

[0104] When the wind force reaches the preset maximum level and the fruit is still not exposed, the harvesting robot control system activates the harvesting failure alarm mechanism. The triggering of the alarm mechanism indicates that the degree of obstruction by the hidden fruit exceeds the range that airflow can effectively handle.

[0105] The harvesting robot control system generates a harvesting failure alarm message, which includes the specific location of the hidden fruit that caused the harvesting failure. The location information is represented by three-dimensional coordinates in the robot's working coordinate system, ensuring that maintenance personnel or operators can accurately locate the problem area.

[0106] Alarm information is sent to external devices via a communication interface. These external devices can be remote monitoring systems, mobile terminals, or human-machine interfaces. Timely transmission of alarm information allows relevant personnel to understand the difficulties encountered during harvesting operations and to take appropriate manual intervention measures.

[0107] In this embodiment of the application, step S218 is also included: after controlling the air supply device to supply air to the air nozzle 51 component at a preset wind force level for a preset time, when the hidden fruit is detected to be exposed, the air supply device is controlled to gradually reduce the wind force until the minimum wind force level that can expose the hidden fruit is found.

[0108] After confirming fruit exposure, the harvesting robot can also execute a wind optimization program. The robotic arm controls the air supply device to gradually reduce the wind speed, searching for the minimum wind level that can maintain the exposed state of the hidden fruit. The goal of wind optimization is to reduce the airflow intensity as much as possible while ensuring sufficient fruit exposure, thus minimizing unnecessary impact on the fruit. The wind speed reduction process uses a step-by-step decrease. The robotic arm's control system reduces the current wind speed by one level and then monitors whether the fruit's exposure can still be maintained. If the fruit remains exposed, the robotic arm's control system continues to reduce the wind speed; if it detects that the fruit is beginning to be obscured again, the robotic arm's control system immediately restores the wind speed to the previous level, determining this level as the minimum effective wind speed.

[0109] In some embodiments, once the air nozzle 51 assembly successfully exposes its hidden position, the harvesting robot's control system begins executing the motion control program for the harvesting robotic arm to move towards the hidden position. Before officially initiating the movement, the harvesting robot first confirms the current working status of each component. The air supply device continues to supply air to the air nozzle 51 assembly at a determined wind speed, maintaining the blade offset and fruit exposure conditions. The camera device is adjusted to the optimal shooting angle and parameter settings to ensure clear capture of the fruit's movement within the target area. The image processing system switches to a high-precision dynamic detection mode to improve sensitivity and accuracy in recognizing minute motion changes. The joint actuators of the harvesting robotic arm receive motion commands and begin coordinated movement along a pre-calculated trajectory path. The movement speed is set to a moderate level, ensuring harvesting efficiency while allowing sufficient reaction time for dynamic monitoring. Please refer to [link to relevant documentation]. Figure 17 Step S103: Driving the harvesting robotic arm to move towards the hidden position until the gripping mechanism reaches the hidden position, further includes: Step S131: During the process of the clamping mechanism moving to the hidden position, the hidden fruit is identified as swaying based on the image captured by the camera device. The swing recognition algorithm is based on image sequence analysis technology, determining the swing state by tracking the positional changes of the fruit in consecutive frames. The algorithm first establishes a feature model of the fruit, including recognition parameters such as color distribution, shape contour, and texture features. Motion detection employs a combination of optical flow and background subtraction techniques. Optical flow calculates the motion vectors of pixels in the image, accurately describing the fruit's direction and speed of movement. Background subtraction highlights the outline and range of the moving target by comparing it with a static background.

[0110] When the detection algorithm detects a positional shift in the fruit, the image recognition system further analyzes the motion characteristics. By calculating the periodicity and amplitude of the positional change, it distinguishes oscillating motion from other types of displacement. Oscillation motion typically manifests as a reciprocating motion around the equilibrium position, exhibiting a clear periodic characteristic.

[0111] As the clamping mechanism moves to its hidden position, the camera system identifies whether the hidden fruit is swaying based on the images captured. The camera continuously acquires image sequences of the target area at a high frame rate to ensure any movement changes of the fruit are captured. Multiple exposure modes are used in the image acquisition process to adapt to shooting needs under different lighting conditions. An autofocus system continuously tracks the fruit's position to ensure the image remains sharp. An image stabilization algorithm compensates for the vibrations caused by the robotic arm's movement, improving image quality consistency. Data processing for continuous image monitoring employs a real-time streaming architecture. Each frame undergoes rapid preprocessing and feature extraction, with a focus on analyzing pixel changes in the fruit area. An inter-frame difference algorithm detects moving targets in the image and identifies the trajectory of the fruit's position change.

[0112] Step S132: If the hidden fruit is detected to be swaying, the maximum swaying amplitude of the hidden fruit is identified in real time; Once the swaying of the hidden fruit is confirmed, the image recognition system immediately initiates a real-time sway amplitude recognition program. The sway amplitude is calculated based on the position trajectory data of the fruit's center point in the image coordinate system. The image recognition system continuously tracks the coordinate changes of the fruit's center point, recording its maximum offset distance during the swaying process. The sway amplitude is measured using a three-dimensional spatial calculation method. Through the calibration parameters of the camera device, the pixel coordinates on the image plane are converted into actual distances in the robotic arm's workspace. Depth information acquisition, combined with binocular vision technology and structured light ranging methods, ensures the accuracy of distance measurement. Determining the maximum sway amplitude requires considering the complete cycle of the swaying motion. The system continuously monitors multiple sway cycles, recording the maximum distance the fruit deviates from its equilibrium position within each cycle. Statistical analysis methods are used to determine a representative maximum sway amplitude value.

[0113] Step S133: Determine whether the maximum swing amplitude is greater than the maximum opening of the clamping mechanism; After the swing amplitude measurement is completed, the image recognition system compares and analyzes the measurement results with the maximum opening of the clamping mechanism. The maximum opening of the clamping mechanism refers to the maximum distance between the two clamping fingers when the clamping fingers are fully open, representing the maximum target size that the clamping mechanism can handle.

[0114] The comparative evaluation process considers the dynamic characteristics of the swinging motion. During the swinging process, the fruit not only experiences positional shifts but may also undergo posture changes. The system analyzes the spatial distribution characteristics of the fruit's swinging trajectory and calculates the effective area that the clamping mechanism needs to cover. A safety margin is set to ensure the reliability of the clamping operation. Even if the swing amplitude is slightly less than the maximum opening of the clamping mechanism, the system will reserve an appropriate safety clearance to avoid clamping failure due to the uncertainty of the swinging motion.

[0115] Step S134: When the maximum swing amplitude is greater than the maximum opening of the clamping mechanism, a harvesting failure alarm message is sent to the external device; When the maximum swing amplitude exceeds the maximum opening of the gripping mechanism, the image recognition system determines that a reliable gripping operation cannot be completed under the current conditions, and the alarm message is generated, including several key data items. First, the precise position coordinates of the hidden fruit that caused the alarm are recorded, represented in the standard format of the robotic arm's working coordinate system. Second, the comparison between the detected maximum swing amplitude and the maximum opening of the gripping mechanism is recorded.

[0116] It should be noted that the harvesting failure alarm message also includes an image of the hidden fruit's location. The image is captured at the moment when the fruit's swing amplitude is at its maximum, ensuring that the fruit's movement is clearly displayed. The hidden location is clearly marked in the image, using high-contrast markers to highlight the target area.

[0117] Step S135: When the maximum swing amplitude is less than the maximum opening of the clamping mechanism, continue to drive the clamping mechanism until the clamping mechanism reaches the hidden position.

[0118] When the maximum swing amplitude is less than the maximum opening of the gripping mechanism, the image recognition system confirms that the current swing state will not affect the successful execution of the gripping operation. The control system of the picking robot continues to drive the gripping mechanism to move towards the hidden position until the gripping mechanism reaches the predetermined gripping position.

[0119] During the movement, the swing monitoring program remains active. The image recognition system continuously monitors changes in the fruit's swing state to prevent sudden increases in swing amplitude due to external factors. If the swing amplitude exceeds a safety threshold during movement, the system can promptly stop the movement and reassess the operating conditions.

[0120] In this embodiment, based on feedback information from sway monitoring, the harvesting robotic arm can dynamically adjust its operating parameters to improve harvesting efficiency. When a slight sway is detected, the robotic arm can appropriately adjust the airflow direction and intensity to reduce disturbance to the fruit. The robotic arm's movement speed can also be adaptively adjusted according to the sway situation. When the fruit sways violently, reducing the movement speed can reduce additional vibration caused by the robotic arm's movement. When the fruit remains relatively stable, appropriately increasing the movement speed can improve harvesting efficiency.

[0121] In some embodiments, please refer to Figure 18 Before step S106: driving the harvesting robotic arm to move toward the hidden position until the gripping mechanism reaches the hidden position, the method further includes: Step S106: When the air nozzle 51 assembly blows air into the hidden position to expose the hidden position, the hidden fruit is identified as swaying based on the image captured by the camera device. When the air nozzle 51 assembly begins blowing air directly at the hidden location to expose it, the camera device simultaneously initiates its swaying state monitoring program. The camera device begins continuous image acquisition from the initial stage of airflow. The acquisition program is set to high-precision mode to ensure accurate capture of minute positional changes in the fruit under the influence of airflow. The image acquisition frequency is optimized based on the expected swaying frequency range, meeting both the temporal resolution requirements of motion detection and the real-time processing capabilities of the data processing system.

[0122] Step S107: If the hidden fruit is detected to be swaying, the maximum swaying amplitude of the hidden fruit is identified in real time; When the system detects a continuous change in the fruit's position, the swaying feature analysis algorithm begins to work. The algorithm establishes trajectory data of the fruit's position changing over time by calculating the position sequence of the fruit's center point in consecutive image frames.

[0123] Step S108: Determine whether the swing amplitude of the hidden fruit is greater than the maximum opening of the clamping mechanism. If so, send a harvesting failure alarm message to the external device. When the judgment result shows that the swing amplitude of the hidden fruit is greater than the maximum opening of the gripping mechanism, the picking robot determines that the successful execution of the gripping operation cannot be guaranteed under the current conditions. The picking robot arm immediately activates the picking failure alarm mechanism and sends a picking failure alarm message to the external equipment.

[0124] The alarm information includes several key data items, such as the maximum detected swing amplitude, swing frequency, and duration. The maximum opening specification data of the clamping mechanism is also provided to facilitate the recipient's understanding and judgment.

[0125] The robotic arm records the precise position of the hidden fruit that triggered the alarm within its working coordinate system, including its three-dimensional coordinates and orientation angles. This positional accuracy meets the requirements for subsequent manual intervention or equipment parameter adjustments.

[0126] Alarm information is sent to external devices via a pre-configured communication interface. The communication protocol supports multiple transmission methods, including Ethernet connections, wireless networks, and serial interfaces. The information format uses a standardized data structure to ensure that different types of receiving devices can correctly parse the alarm content.

[0127] Preferably, after completing the information transmission, the sender waits for a confirmation reply from the receiver to verify whether the information has been successfully received and processed. If no confirmation signal is received within a preset time, the system automatically initiates a retransmission mechanism to ensure the reliable delivery of alarm information.

[0128] Step S109: If the swing amplitude of the hidden fruit is less than the maximum opening of the clamping mechanism, then proceed to the step of driving the picking robotic arm to move toward the hidden position.

[0129] When the comparison result shows that the swing amplitude of the hidden fruit is less than the maximum opening of the gripping mechanism, the picking robot arm confirms that the current swing state will not hinder the successful execution of the gripping operation. After the judgment is passed, the control program proceeds to the next execution step, that is, drives the picking robot arm to move towards the hidden position.

[0130] In this embodiment, through the complete swing detection and evaluation method described above, the picking robot accurately judges the feasibility of the operation before the picking robotic arm moves, effectively avoiding unnecessary operation attempts and potential failures, and significantly improving the overall efficiency and success rate of the picking operation.

[0131] This application provides a fruit harvesting method applied to a harvesting robot. The harvesting robot includes a movable chassis and a harvesting robotic arm. The harvesting robotic arm includes a robotic arm body, an air nozzle assembly 51, an air supply device, a camera device, and a gripping mechanism. The robotic arm body and the air supply device are both disposed on the movable chassis. The gripping mechanism and the air nozzle assembly 51 are both disposed at the end of the robotic arm body. The air supply device is connected to the air nozzle assembly 51. The camera device is disposed on the harvesting robotic arm and is used to capture images of the area to be harvested. The method includes: determining hidden fruits hidden within the area to be harvested, and determining the hiding position of the hidden fruits; driving the harvesting robotic arm so that the air nozzle assembly 51 blows air towards the hiding position to expose the hiding position; and driving the harvesting robotic arm towards the hidden fruit. The hidden position is moved until the clamping mechanism reaches the hidden position, driving the clamping mechanism to clamp the hidden fruit, and controlling the air supply device to stop supplying air, driving the clamping mechanism to retract, so as to harvest the hidden fruit. The design of a single robotic arm with air nozzle 51 in this embodiment of the application effectively solves the technical problems of high cost and complex control of traditional dual-arm harvesting robots. Compared with the traditional solution that requires the coordinated control of two robotic arms, this application only requires one robotic arm with air nozzle 51 to realize the search and harvesting of hidden fruits. By driving the robotic arm to drive the air nozzle 51 to search the harvesting area, it can accurately find and locate fruits hidden by leaves, improve the adaptability of robotic arm harvesting to complex environments, ensure the comprehensiveness and thoroughness of harvesting operations, and effectively avoid the problem of missing hidden fruits.

[0132] This application also provides an embodiment of a fruit-harvesting device 80, which is applied to the aforementioned harvesting robot. Please refer to [link to relevant documentation]. Figure 19The fruit picking device 80 includes: a determining module 81, a first driving module 82, a second driving module 83, a third driving module 84, and a recycling module 85.

[0133] The determining module 81 is used to determine the hidden fruit hidden in the area to be picked, and the hiding position of the hidden fruit; the first driving module 82 is used to drive the picking robotic arm so that the air nozzle 51 assembly blows air towards the hiding position to expose the hiding position; the second driving module 83 is used to drive the picking robotic arm to move towards the hiding position until the clamping mechanism reaches the hiding position; the third driving module 84 is used to drive the clamping mechanism to clamp the hidden fruit and control the air supply device to stop supplying air; the recovery module 85 is used to drive the clamping mechanism to recover and pick the hidden fruit.

[0134] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A harvesting robotic arm, characterized in that, include: Gas supply device; Robotic arm body; A clamping mechanism is disposed at the end of the robotic arm body, and the clamping mechanism is used to clamp the object to be clamped; A swing mechanism, wherein the swing mechanism is disposed in the clamping mechanism; An air nozzle assembly is disposed on the swing mechanism. The air supply device is connected to the air nozzle assembly. The air supply device is used to supply air to the air nozzle assembly. The air nozzle assembly is used to blow air onto the obstruction that is blocking the object to be clamped to expose the object to be clamped. The clamping mechanism is used to clamp the exposed object to be clamped. The swing mechanism drives the air nozzle assembly to swing to adjust the angle of blowing air onto the obstruction.

2. The harvesting robotic arm according to claim 1, characterized in that, The swing mechanism includes a swing seat, a first telescopic component, and a second telescopic component; One end of the first telescopic component is rotatably connected to the swing seat, and the other end of the first telescopic component is mounted on the clamping mechanism. One end of the second telescopic component is rotatably connected to the swing seat, and the other end of the second telescopic component is mounted on the clamping mechanism. The first telescopic component and the second telescopic component are arranged opposite to each other, and the air nozzle assembly is disposed on the swing seat. When the first telescopic component and the second telescopic component extend or retract simultaneously, the air nozzle component extends or retracts. When one of the first telescopic component and the second telescopic component extends and the other retracts, the air nozzle assembly deflects.

3. The harvesting robotic arm according to claim 2, characterized in that, The swing mechanism includes a third telescopic component and a fourth telescopic component; One end of the third telescopic component is rotatably connected to the swing seat, and the other end of the third telescopic component is installed on the clamping mechanism. One end of the fourth telescopic component is rotatably connected to the swing seat, and the other end of the fourth telescopic component is installed on the clamping mechanism. The first telescopic component and the second telescopic component are arranged opposite each other along a first direction, and the third telescopic component and the fourth telescopic component are arranged opposite each other along a second direction, wherein the first direction and the second direction are perpendicular.

4. The harvesting robotic arm according to claim 3, characterized in that, The swing seat has a first swing portion and a second swing portion, the first swing portion having a first through hole and the second swing portion having a second through hole. The first telescopic component includes a first mounting member and a first telescopic member. One end of the first telescopic member is fixed to the clamping mechanism, and the other end of the first telescopic member is rotatably connected to the first mounting member. Furthermore, one end of the first mounting member is provided with a first insertion part, which rotatably passes through the first through hole. The second telescopic component includes a second mounting member and a second telescopic member. One end of the second telescopic member is fixed to the clamping mechanism, and the other end of the second telescopic member is rotatably connected to the second mounting member. The second mounting member is provided with a second insertion part, which rotatably passes through the second through hole.

5. The harvesting robotic arm according to claim 3, characterized in that... The swing seat is provided with a third swing part and a fourth swing part. The third swing part is provided with a third through hole, and the fourth swing part is provided with a fourth through hole. The third telescopic component includes a third mounting member and a third telescopic member. One end of the third telescopic member is fixed to the clamping mechanism, and the other end of the third telescopic member is rotatably connected to the third mounting member. Furthermore, the third mounting member is provided with a third insertion part, which rotatably passes through the third through hole. The fourth telescopic component includes a fourth mounting member and a fourth telescopic member. One end of the fourth telescopic member is fixed to the clamping mechanism, and the other end of the fourth telescopic member is rotatably connected to the fourth mounting member. The fourth mounting member is provided with a fourth insertion part, which rotatably passes through the fourth through hole.

6. The harvesting robotic arm according to claim 1, characterized in that, The harvesting robotic arm also includes an elastic conduit, and the air nozzle assembly is connected to the air supply device through the elastic conduit.

7. The harvesting robotic arm according to claim 1, characterized in that, The swing mechanism also includes an elastic mesh, one end of which is fixed to the swing seat and the other end of which is fixed to the clamping mechanism. The elastic mesh surrounds the portion of the elastic conduit located between the clamping mechanism and the swing seat.

8. The harvesting robotic arm according to any one of claims 1-7, characterized in that, The clamping assembly includes a base, multiple gripping fingers, and a clamping drive. The base is disposed at the end of the robotic arm body, and the multiple gripping fingers are disposed on the surface of the base opposite to the end of the robotic arm body. The clamping drive is used to drive the multiple gripping fingers to open or close. The air nozzle assembly is disposed on the base, and the multiple gripping fingers surround the air nozzle assembly. The swing mechanism is fixed to the base.

9. The harvesting robotic arm according to claim 8, characterized in that, The clamping fingers are pneumatic clamping fingers, and the clamping drive is an air pump.

10. A picking robot, characterized in that include: Movable chassis; A loading frame is provided on the movable chassis; The harvesting robotic arm as described in any one of claims 1-9, wherein the robotic arm body of the harvesting robotic arm is disposed on the movable chassis, and the air supply device of the harvesting robotic arm is disposed on the movable chassis.

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