CN-121970611-A - Double-sided collaborative apple harvesting robot and method for hedge wall type orchard

CN121970611ACN 121970611 ACN121970611 ACN 121970611ACN-121970611-A

Abstract

The application discloses a double-side collaborative apple harvesting robot and a method for a hedge wall type orchard, wherein the robot comprises a central control unit, an all-terrain electric control crawler chassis, a double-end independent multi-dimensional adjusting platform, a parallel picking mechanical arm system, a follow-up fruit relay conveying system and an automatic boxing and box changing system, wherein the all-terrain electric control crawler chassis is electrically connected with the central control unit, adjusting mechanisms of the double-end independent multi-dimensional adjusting platform are symmetrically arranged at the front end and the rear end of the all-terrain electric control crawler chassis, each adjusting mechanism comprises a transverse telescopic module and a longitudinal lifting module, the moving tail end of the transverse telescopic module is provided with the parallel picking mechanical arm system, the parallel picking mechanical arm system is fixedly connected with the follow-up fruit relay conveying system through a rigid connecting bracket, and the output end of the follow-up fruit relay conveying system is provided with the automatic boxing and box changing system. The full-flow automatic operation of the application greatly improves the harvesting efficiency, reduces the labor cost and the fruit loss, and meets the commercial harvesting requirement of the orchard.

Inventors

WANG JINXING
ZHANG KAISEN
LIU CONGNING
LI HONGXIANG
LIU JUNSHENG
ZHANG HONGJIAN
ZHANG CHENGFU
ZHANG JIE
SUN LINLIN
WANG YONGXIAN
CHEN ZIXU
CHEN XIUBO

Assignees

山东农业大学
高密市益丰机械有限公司

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (10)

1. The double-side collaborative apple harvesting robot for the hedge wall type orchard is characterized by comprising a central control unit, an all-terrain electric control crawler chassis, a double-end independent multi-dimensional adjusting platform, a parallel picking mechanical arm system, a follow-up fruit relay conveying system and an automatic boxing and box changing system, wherein the all-terrain electric control crawler chassis is electrically connected with the central control unit, adjusting mechanisms of the double-end independent multi-dimensional adjusting platform are symmetrically arranged at the front end and the rear end of the all-terrain electric control crawler chassis, each adjusting mechanism comprises a transverse telescopic module and a longitudinal lifting module, the moving tail end of the transverse telescopic module is provided with the parallel picking mechanical arm system, the parallel picking mechanical arm system is fixedly connected with the follow-up fruit relay conveying system through a rigid connecting support, and the output end of the follow-up fruit relay conveying system is provided with the automatic boxing and box changing system.
2. The robot for harvesting apples in a double-sided collaborative manner for a hedge wall type orchard according to claim 1, wherein the follow-up fruit relay conveying system comprises a first follow-up conveying component, a second follow-up conveying component and a central collecting conveyor belt, the first follow-up conveying component and the second follow-up conveying component are identical in structure and comprise a follow-up conveying belt, the follow-up conveying belt is in transmission connection with a follow-up conveying belt driving motor, two ends of the follow-up conveying belt are provided with anti-falling baffles, the surface of the follow-up conveying belt is provided with a plurality of interval baffles at equal intervals, the input end of the follow-up conveying belt is provided with a fruit receiving box, a frame of the fruit receiving box is fixedly connected with a first end of a rigid connecting support, the second end of the rigid connecting support is fixedly connected with a parallel mechanical arm base, the output end of the follow-up conveying belt is in sliding connection with a longitudinal lifting module through a sliding table hanging mechanism, a flexible guide plate is arranged below the output end of the follow-up conveying belt, the flexible guide plate is in the form of a central conveying belt, and the flexible guide plate extends to the surface of the follow-up conveying belt driving motor, and is electrically connected with a central control unit.
3. The hedge wall orchard-oriented double-sided collaborative apple harvesting robot according to claim 2, wherein the central collection conveyor belt is arranged along a central axis of a through conveyor channel reserved in the middle of an all-terrain electric control crawler chassis and is located between two groups of adjusting mechanisms, the length of the central collection conveyor belt covers the distance of the all-terrain electric control crawler chassis, and an infrared correlation sensor is arranged at the tail end of the central collection conveyor belt and is electrically connected with a central control unit.
4. The double-sided collaborative apple harvesting robot facing a hedge wall type orchard according to claim 1, wherein the automatic boxing and box changing system comprises an empty box storage unit and a rotary material equalizing unit, the empty box storage unit comprises an empty box storage frame which is vertically arranged, the empty box storage frame is fixedly arranged at one side of the tail of an all-terrain electric control crawler chassis, a box supply conveying belt is arranged at the bottom of the empty box storage frame, the box supply conveying belt is in transmission connection with a box supply conveying belt driving motor, and empty box stacking and separating mechanisms are fixedly arranged at two sides of the lower part of the empty box storage frame; The rotary uniform material unit is fixedly arranged at the central position of the tail part of the all-terrain electric control crawler chassis and comprises a rotary uniform material base, a fruit collecting conveying belt is arranged on the upper surface of the rotary uniform material base and is in transmission connection with a fruit collecting conveying belt driving motor, the rotary uniform material base is electrically connected with an output shaft of a rotating motor, the rotating motor is a blank box stacking and separating mechanism, a box feeding conveying belt driving motor is electrically connected with a central control unit, and a full box discharging ramp is arranged at the output end of the fruit collecting conveying belt.
5. The robot for harvesting apples in a double-sided cooperation manner for a hedge wall type orchard according to claim 1, wherein the longitudinal lifting module comprises a vertically arranged gantry frame, a longitudinal driving cylinder is fixedly arranged on a column of the gantry frame, a speed doubling chain wheel assembly is arranged at an output end of the longitudinal driving cylinder, one end of a chain is fixedly connected with the gantry frame, the other end of the chain bypasses the speed doubling chain wheel assembly to be connected with a picking operation platform, the picking operation platform is slidably arranged on a vertical guide rail, and the vertical guide rail is fixedly arranged on the gantry frame.
6. The robot of claim 5, wherein the picking platform comprises a horizontal frame and a horizontal telescopic module, a horizontal linear guide rail is fixedly arranged on the horizontal frame, the horizontal telescopic module comprises a horizontal driving cylinder and a sliding table, a cylinder body of the horizontal driving cylinder is fixedly connected with a sliding table seat of the sliding table, the horizontal frame is in sliding connection with the sliding table, and a movable end of a push rod of the horizontal driving cylinder is connected with a parallel picking mechanical arm system fixedly arranged on the horizontal frame.
7. The robot of claim 6, wherein the parallel picking robot arm system comprises a parallel robot arm base, the parallel robot arm base is connected with a movable end of a push rod of the transverse driving electric cylinder, a parallel robot arm and a rigid connection support are arranged on the parallel robot arm base, the rigid connection support is fixedly connected with a frame of the fruit receiving box, an end robot arm and a depth camera are arranged at the tail end of the parallel robot arm, and the end robot arm is a flexible clamping structure robot arm.
8. The double-sided collaborative apple harvesting robot facing a hedge wall type orchard according to claim 1, wherein the all-terrain electric control crawler chassis comprises a crawler traveling mechanism, the crawler traveling mechanism is in transmission connection with a crawler driving motor, a navigation positioning module, a traveling power battery bin and a working power battery bin are further arranged in the all-terrain electric control crawler chassis, a traveling power battery is arranged in the traveling power battery bin, the traveling power battery is electrically connected with the crawler driving motor, and the working power battery is arranged in the working power battery bin.
9. A method for harvesting double-sided collaborative apples in a hedge-wall type orchard, using the robot of any one of claims 1-8, comprising: The robot runs to an operation position along the line space of the hedge wall type orchard, the fruit trees at two sides are scanned by a depth camera, a local three-dimensional point cloud map is constructed, and coordinates of fruit target points under a depth camera coordinate system are expressed as follows: The coordinates of the fruit target point under the parallel mechanical arm base coordinate system are obtained after camera external parameters are converted: Wherein, the Is the three-dimensional coordinates of the fruit target point under the depth camera coordinate system, Is the three-dimensional coordinate of the fruit target point under the parallel mechanical arm base coordinate system, In order to rotate the matrix is rotated, Is a translation vector; The central control unit controls the longitudinal lifting modules at the front end and the rear end to respectively send the parallel mechanical arms to a preset height layer according to the fruit distribution height in the local three-dimensional point cloud map, and acquires three-dimensional coordinates and depth information of fruits at the height layer through the visual control system, wherein the target height of the preset height layer meets the following conditions: Wherein, the Is the first The target height of the height station, The working high position of the bottom layer is used, In order to provide a step distance between the layers, The vertical reachable radius of a single height station of the parallel mechanical arm, The overlapping rate is covered by the interlayer; and calculating the depth of the fruit from the parallel mechanical arm base according to the obtained three-dimensional coordinates and depth information, wherein the formula is as follows: Wherein, the Is the first The depth of each fruit relative to the base of the parallel mechanical arm, Is the first The direction coordinates of the individual fruits under the base coordinate system, A base depth reference plane coordinate; if the calculated depth is greater than 0 and smaller than or equal to a first preset threshold value, judging that the picking area is direct, and performing grabbing according to the optimal path by the central control unit, wherein the grabbing path length meets the following conditions: Wherein, the For the corresponding grasping path length of the kth fruit, Is the first on the track The coordinates of the points of the path, Is the first on the track Coordinates of each path point; if the calculated depth is larger than the first preset threshold value and smaller than or equal to the second preset threshold value, judging that the picking area is compensated, and calculating the compensation distance at the same time, wherein the calculation formula is as follows: Wherein, the Is the first The corresponding transverse expansion compensation distance of each fruit, For the fruit depth exceeding the gap distance with the self depth reaching capability of the parallel mechanical arm, For the maximum compensation travel of the transverse expansion module, As a limiting function for Limited to the interval An inner part; The transverse telescopic module drives the parallel mechanical arms to move forward according to the calculated compensation distance and then controls the parallel mechanical arms to act, picking operation is carried out, and the follow-up fruit relay conveying system synchronously moves deep below the tree crown in the moving process; After grabbing, the fruits are kept in a transversely extending state, only a trace amount of vertical lifting or backward withdrawing is carried out, the fruits are gently put into a follow-up conveying belt receiving box under the fruit receiving box, the fruits are transmitted backward through the follow-up conveying belt, smoothly transferred from an output end to a central collecting conveying belt, counted by an infrared correlation sensor and then gathered into an automatic box loading and changing system at the tail part; after picking at the current position, the transverse telescopic module drives the parallel mechanical arm to retract synchronously with the follow-up sub-conveying belt, and the longitudinal lifting module is adjusted to the next height layer until the whole fruit picking at all height layers is completed.
10. The method for harvesting double-sided collaborative apples in a hedge-wall type orchard according to claim 9, wherein the automatic boxing and box-changing system which is counted by an infrared correlation sensor and then enters the tail comprises: Fruits counted by the infrared correlation sensor fall into fruit boxes placed on the fruit collecting conveyor belt, and meanwhile, the fruit boxes are driven to rotate by a rotating motor to carry out small-amplitude reciprocating rotation or intermittent rotation through a rotary material homogenizing base, so that the fruits falling into the boxes are paved around; When the accumulated fruit quantity of the infrared correlation sensor reaches a preset full box value, the central control unit controls the automatic box loading and changing system to execute full box unloading and empty box supplying actions, the rotary uniform material base drives the fruit collecting conveyor belt to rotate to an unloading angle, the tail part of the fruit collecting conveyor belt is aligned to a full box unloading ramp, the fruit collecting conveyor belt rotates positively, the full fruit box is unloaded, and the unloading angle has the following calculation formula: Wherein, the In order to achieve the angle of discharge, Is the zero-position angle of the device, Is the discharge deflection angle; After the unloading is completed, the rotary uniform material base drives the fruit collecting conveyor belt to rotate to a box receiving angle, so that the head end of the fruit collecting conveyor belt is in butt joint with the box supplying conveyor belt, and the box receiving angle has a calculation formula as follows: , wherein, For the angle of the box connection, the box connection is provided with a box connection opening, The deflection angle is the box receiving deflection angle; Then, the action of an empty box stacking and separating mechanism on the empty box storage rack is controlled, all empty boxes on the penultimate layer and above in the stacked empty boxes are clamped and lifted slightly upwards, and the lifting displacement meets the following conditions: , wherein, In order to lift the displacement, Is the height of a single empty box, Is a safety margin; starting a box feeding conveyor belt and a fruit collecting conveyor belt, and smoothly transferring the empty boxes at the bottommost layer from the box feeding conveyor belt to the fruit collecting conveyor belt in a transitional manner to finish empty box replenishment; After the empty box replenishment is completed, the empty box stacking and separating mechanism is loosened, and the rest empty box stacks fall onto the box feeding conveyor belt to wait for the next circulation.

Description

Double-sided collaborative apple harvesting robot and method for hedge wall type orchard Technical Field The invention relates to the technical field of agricultural robots and intelligent orchard management equipment, in particular to a double-sided collaborative apple harvesting robot and method for a hedge wall type orchard. Background Along with the change of modern orchard planting mode to dwarf close planting and hedge wall type cultivation, the fruit tree is wall form and distributes, and the row spacing is narrow and the crown vertical distribution is higher, this planting mode has effectively improved the apple output of orchard unit area, but also has put forward higher operation requirement to orchard mechanization, automatic harvesting equipment, and traditional harvesting equipment has had difficulty adapting to the operation demand of this planting scene. The traditional orchard apple picking robot adopts a multi-joint serial mechanical arm structure, and has certain operation flexibility, but because the driving motor is arranged at the joint position, the mechanical arm has large motion inertia, slow action during operation, long time consumption for picking single fruit and low picking efficiency, and cannot meet the high-efficiency requirement of large-scale picking of a commercial orchard. The parallel mechanical arm has extremely high movement acceleration and operation speed by virtue of the structural advantages that the driving unit is fixed on the base and the moving part is light in weight, can effectively improve the single fruit picking efficiency, and becomes the optimal scheme for efficiently picking the orchard. However, the parallel mechanical arms have the congenital defect of smaller working space and fixed, fruits are distributed at different heights and depths of crowns in the face of naturally growing fruit trees, the parallel mechanical arms of the fixed base often have dead areas which can not reach or stretch in, and the picking of the fruits in the whole area is difficult to realize. In the prior art, although the operation range of the parallel mechanical arm is expanded by adding a mobile platform, a new problem of joint and dislocation between picking and fruit conveying is caused. The traditional fruit collecting box or the conveyer belt is fixed on the robot chassis more, when the parallel mechanical arm stretches out for picking fruits deep in the tree crown by a wide margin, the mechanical arm is required to be retracted completely after picking, the fruits can be placed into the collecting device, and the long-distance round-trip operation mode not only completely wastes the high-speed operation advantage of the parallel mechanical arm, but also greatly increases the energy consumption of equipment, and simultaneously promotes the falling loss risk in the fruit picking process. Disclosure of Invention In order to solve the technical problems, the application provides the following technical scheme: In a first aspect, the embodiment of the application provides a double-sided collaborative apple harvesting robot for a hedge wall type orchard, which comprises a central control unit, an all-terrain electric control crawler chassis, a double-end independent multi-dimensional adjusting platform, a parallel picking mechanical arm system, a follow-up fruit relay conveying system and an automatic boxing and box changing system, wherein the all-terrain electric control crawler chassis is electrically connected with the central control unit, adjusting mechanisms of the double-end independent multi-dimensional adjusting platform are symmetrically arranged at the front end and the rear end of the all-terrain electric control crawler chassis, each adjusting mechanism comprises a transverse telescopic module and a longitudinal lifting module, the moving tail end of the transverse telescopic module is provided with the parallel picking mechanical arm system, the parallel picking mechanical arm system is fixedly connected with the follow-up fruit relay conveying system through a rigid connecting bracket, and the output end of the follow-up fruit relay conveying system is provided with the automatic boxing and box changing system. In one possible implementation manner, the follow-up fruit relay conveying system comprises a first follow-up conveying component, a second follow-up conveying component and a central collecting conveying belt, the first follow-up conveying component and the second follow-up conveying component are identical in structure and comprise a follow-up conveying belt, the follow-up conveying belt is in driving connection with a follow-up conveying belt driving motor, two ends of the follow-up conveying belt are provided with anti-falling baffles, the surfaces of the follow-up conveying belt are provided with a plurality of interval baffles at equal intervals, the input end of the follow-up conveying belt is provided with a fruit receiving box, a frame of the