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CN-122004049-A - Nondestructive fruit picking robot and control method thereof

CN122004049ACN 122004049 ACN122004049 ACN 122004049ACN-122004049-A

Abstract

The invention relates to the technical field of agricultural intelligent equipment and robots, and provides a nondestructive fruit picking robot and a control method thereof, wherein the nondestructive fruit picking robot comprises a picking executing mechanism, a movable travelling mechanism, a bearing and positioning mechanism, an air flow generating and controlling mechanism and a fallen fruit receiving and conveying and collecting mechanism; the bottom of the bearing and positioning mechanism is arranged on the movable travelling mechanism, and the picking executing mechanism is arranged on the top of the bearing and positioning mechanism. According to the invention, the fruit stalks are cut off rapidly by laser, the obstacle clearing, auxiliary separation and instant fire suppression are realized simultaneously in the same operation area by PWM pulse high-pressure air flow generated by the electromagnetic valve, and meanwhile, the non-contact nondestructive collection link is constructed by matching with the fruit receiving hopper, the flexible fruit guide pipe and the fruit collection box, so that the rapid separation, the controllable damage and the safe operation are realized, and a more feasible technical basis is provided for continuous and engineering automatic picking of orchard scenes.

Inventors

  • ZHANG ZHIHONG

Assignees

  • 上海强丰实业有限公司

Dates

Publication Date
20260512
Application Date
20260330

Claims (10)

  1. 1. A nondestructive fruit picking robot is characterized by comprising The movable travelling mechanism is used for bearing the whole machine and realizing movable operation in an orchard environment; The bearing and positioning mechanism (4) is arranged on the movable travelling mechanism at the bottom; the picking executing mechanism (1) is used for cutting off fruit stalks of target fruits, is configured at the top of the bearing and positioning mechanism (4) and realizes self space positioning and posture adjustment through the bearing and positioning mechanism (4); an air flow generating and controlling mechanism (2), one end of which is arranged on the movable travelling mechanism, and the other end of which is arranged on the picking executing mechanism (1) and is used for outputting high-pressure pulse air flow to a picking area in a directional way; And the fallen fruit receiving and conveying and collecting mechanism (3) is provided with one end arranged on the movable travelling mechanism and the other end arranged on the picking executing mechanism (1) and is used for receiving fallen fruits after cutting and guiding the fruits into the collecting container.
  2. 2. The nondestructive fruit picking robot according to claim 1, wherein the picking actuator (1) comprises at least a laser module (11) and a terminal mounting base (12), the terminal mounting base (12) is mounted at the upper end of the carrying and positioning mechanism (4), the laser module (11) is configured on the terminal mounting base (12), the laser module (11) is used for generating and outputting a laser beam, and the laser output end of the laser module (11) is arranged towards a cutting operation area of a fruit handle.
  3. 3. The nondestructive fruit picking robot according to claim 2, wherein the carrying and positioning mechanism (4) comprises a mechanical arm (41), the mobile travelling mechanism comprises a mobile chassis assembly (5), the mobile chassis assembly (5) is provided with a mounting platform (51), the lower end of the mechanical arm (41) is mounted on the mounting platform (51), and the upper end of the mechanical arm (41) is connected with a tail end mounting seat (12).
  4. 4. A non-destructive fruit picking robot according to claim 1 or 3, characterized in that the air flow generating and controlling mechanism (2) comprises a controller, an air compressor (21), a solenoid valve (22), an air line (23) and an air blowing nozzle (24); The air blowing nozzle (24) is configured on a tail end mounting seat (12) of the picking executing mechanism (1), the air compressor (21) is mounted on the moving and traveling mechanism and is used for outputting high-pressure air, the output end of the air compressor (21) is connected with one end of the air pipeline (23), the air blowing nozzle (24) is configured at the other end of the air pipeline (23), and the electromagnetic valve (22) is arranged on the air pipeline (23); the electromagnetic valve (22) is electrically connected with a controller, and the controller can output pulse width modulation control signals to the electromagnetic valve (22) to enable the electromagnetic valve (22) to pulse gas in a high-frequency opening and closing mode, so that high-pressure pulse air flow is formed at the air blowing nozzle (24).
  5. 5. The non-destructive fruit picking robot according to claim 4, wherein the picking actuator (1) has a laser output on a laser module (11) disposed toward a fruit stem cutting operation area, and the air-blowing nozzle (24) directs a jet direction toward the fruit stem cutting operation area so that an air-flow action area jetted from the air-blowing nozzle (24) and a laser beam action area are spatially overlapped or intersected.
  6. 6. The non-destructive fruit picking robot according to claim 1, wherein the falling fruit receiving and transporting and collecting mechanism (3) comprises at least a fruit receiving funnel (31), a flexible fruit guide tube (32) and a fruit collecting box (33); The fruit receiving funnel (31) is arranged on a tail end mounting seat (12) of the picking executing mechanism (1), an opening of the fruit receiving funnel (31) is arranged towards an expected fruit dropping area of a target fruit, a funnel outlet of the fruit receiving funnel (31) is communicated with one end of a flexible fruit guide tube (32), and the other end of the flexible fruit guide tube (32) is communicated with a fruit inlet of a fruit collecting box (33).
  7. 7. The non-destructive fruit picking robot of claim 1, wherein the mobile travelling mechanism is capable of taking any of the following structural forms: A crawler-type walking structure; A wheeled walking structure; a four-foot walking structure.
  8. 8. The non-destructive fruit picking robot according to claim 1, wherein the carrying and positioning mechanism (4) has a gas line (23) relatively fixed to the robotic arm (41) by a clip, a tie, a sheath or an internal routing channel; the flexible fruit guide tube (32) of the fruit receiving, conveying and collecting mechanism (3) is made of flexible materials and is distributed along the path from the mechanical arm (41) to the fruit collecting box (33).
  9. 9. The nondestructive fruit picking control method is characterized by comprising the following steps of: A tail end alignment step, namely controlling a mechanical arm (41) to drive a picking executing mechanism (1) to move to a position adjacent to a target fruit and finish gesture adjustment, enabling the output direction of a laser module (11) to be aligned to a fruit stem cutting area, enabling an inlet of a fruit receiving funnel (31) to be aligned to an expected fruit dropping area of the target fruit, and thus establishing consistency of cut point alignment and fruit dropping bearing alignment in space; A pulse air blowing preparation step, namely controlling an air compressor (21) to build air path pressure, controlling an electromagnetic valve (22) to enter a controlled opening and closing state, and enabling an air blowing nozzle (24) to have a condition of outputting high-pressure pulse air flow; The cooperative operation step comprises the steps of controlling an electromagnetic valve (22) to open and close according to pulse width modulation signals in a preset time window before and after cutting off the fruit stalks by a laser module (11), so that a blowing nozzle (24) outputs high-pressure pulse air flow to a fruit stalk cutting area; the step of fruit drop receiving and conveying, namely, the target fruits are separated from the fruit stalks and then fall into a fruit receiving funnel (31) and are guided into a fruit collecting box (33) through a flexible fruit guide pipe (32) to finish collection; And the tail end resetting and next target step is to control the mechanical arm (41) to drive the picking executing mechanism (1) to leave the current working position and enter the aligning and picking cycle of the next target fruit, so that continuous picking is realized.
  10. 10. The method according to claim 9, wherein if a flame or abnormal firing sign occurs during the laser firing process, the controller can immediately cut off the laser output and increase the duty cycle of the solenoid valve (22) to 80% -95% for 0.3-1.0 s to enhance the blowing-out and suppressing ability of the jet air flow to the flame, and then return to normal operation parameters or go to the next round of alignment.

Description

Nondestructive fruit picking robot and control method thereof Technical Field The invention relates to the technical field of agricultural intelligent equipment and robots, in particular to a movable picking robot for fruit picking operation and a picking executing mechanism and a control system thereof, belongs to the technical field of crossing of agricultural robots, electromechanical integration and intelligent picking equipment, and particularly relates to a nondestructive fruit picking robot and a control method thereof, in particular to a non-contact nondestructive fruit picking robot with cooperative laser stem cutting and pulse air blowing and a control method thereof. Background Fruit picking is one of the key links of highest labor intensity, most difficult work organization and most sensitive cost rise in the orchard production process for a long time. On one hand, picking is often concentrated in a short mature window period, labor is obviously seasonal and bursty, and on the other hand, along with the change of population structure and the rising of labor cost, the economy of manually completing large-scale orchard picking is continuously reduced. Therefore, the picking robot using the mechanical arm and the moving platform as carriers gradually becomes an important technical direction for replacing manpower, and is expected to improve the working efficiency, stabilize the quality of fruits and reduce the comprehensive labor cost. However, the existing research and engineering practice generally indicate that the natural orchard environment and the factory scene have essential differences that fruits are not regularly arranged, branches and leaves are blocked generally and dynamically, the fruit handle posture and the space orientation are highly discrete, the difference of the fruit size, the weight and the maturity is obvious, in the highly unstructured environment, picking operation must meet three indexes of quick separation capability damage controllability of positioning capability, strong coupling and mutual elbow pulling are needed between the three indexes, namely more complicated perception and slower action strategies are needed for improving the positioning precision, mechanical acting force is increased or action time is shortened for improving the separation speed, damage and failure are aggravated, more flexible and finer control is needed for reducing damage, the beat is reduced, and the complexity of the system is increased. The three-difficulty problem forms a core bottleneck of the picking robot from a laboratory to industrialized landing, and is a key contradiction that continuous iteration in the prior art is still difficult to thoroughly solve. The prior art is examined from the viewpoint of the separation mechanism of fruits and plants, the picking end effector or picking scheme can be generally summarized into two main routes, namely, pulling, rotating or twisting the fruits to separate the fruit stalks after clamping the fruits, and mechanically shearing or cutting the fruit stalks after clamping or positioning to realize separation. The clamping and twisting scheme has the advantages of visual structure form, simple action logic and easy integration at the tail end of the mechanical arm, is quite common in early production schemes, but basically belongs to contact picking, the fruit skin inevitably bears normal extrusion and tangential friction in the clamping process, and the torsion/pulling can introduce complex shearing stress and bending moment at the joint of the fruit surface and the fruit handle, so that scratch, indentation and even skin breakage are easy to cause, and the fruit skin is more sensitive to soft fruits, thin fruits, fruits with higher maturity and reduced skin strength. In order to reduce damage, a great number of improved paths are proposed in academia and industry, such as coating clamping jaws by adopting flexible materials, designing underactuated flexible and smooth claws, introducing current, actively compliant control of force feedback, reducing local stress concentration through shape self-adaption and the like, so as to achieve compromise between grabbing stability and damage control, but the improvement belongs to more sustained release optimization of contact grabbing, and the basic fact that the separation can be completed by contacting and applying force to the surface of fruits is not changed, so that under the actual working conditions of limited grabbing postures caused by branch and leaf shielding, unstable friction coefficient caused by wet sliding of fruit surfaces, uncontrollable stress distribution caused by fruit shape difference and the like, the problems of slipping, squeezing injury or uncontrollable dropping and the like still easily occur, and the stability and zero damage are difficult to be simultaneously obtained. The fruit stem shearing/cutting type end effector is widely applied to engineering products, and is typi