RU-2861501-C1 - ROBOTIC MACHINE FOR HARVESTING FRUITS FROM FRUIT TREES

RU2861501C1RU 2861501 C1RU2861501 C1RU 2861501C1RU-2861501-C1

Abstract

FIELD: agriculture. SUBSTANCE: invention relates to robotic machines for harvesting fruits from fruit trees in industrial horticulture. A robotic machine for harvesting fruits from fruit trees comprises a self-propelled wheeled chassis, an autonomous power supply system, a control and navigation system, a chassis electric drive control unit, an integrated navigation system module, a robot manipulator system, a fruit loading system into a container, a machine vision system with stereo cameras. Vertical frames are made in the form of vertical longeron frames, horizontal crossbars are made in the form of horizontal traverses. The longeron frames are fixed on movable linear profile rail guides moving into fixed profile bearing carriages. Linear rodless electric drives with movable carriages are fixed on each traverse, on which positional telescopic manipulators with grippers are mounted, with the possibility of horizontal, vertical movement and movement of the end section in two planes. The loading system includes trays connected to fruit accumulator trays, a distributor and a fruit guide-packer. EFFECT: improving the efficiency and quality of fruit harvesting from fruit trees. 1 cl, 3 dwg

Inventors

Bukreev Dmitrii Mikhailovich
KHORT DMITRIJ OLEGOVICH
Akhmad Avs
Semichev Stepan Vladimirovich
Saliev Alibek Andreevich
SMIRNOV IGOR GENNADEVICH
Khutinaev Oleg Soslanbekovich
SELIN ALEKSEJ VLADIMIROVICH
Laverova Raisa Konstantinovna
SMIRNOV IGOR GENNADEVICH
MARCHENKO LEONID ANATOLEVICH
Kutyrev Aleksej Igorevich

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (1)

A robotic machine for harvesting fruit trees, comprising a self-propelled wheeled chassis including a horizontal rectangular platform with a subframe platform, guide and drive wheels with drives from electric motors, an autonomous power supply system including a battery pack, a control and navigation system including a central controller with a control computer, peripheral controllers, interface modules, a chassis electric drive control unit, an integrated navigation system module, a robotic manipulator system including vertical frames mounted on the platform with vertical posts and horizontal crossbars with linear rodless electric drives with carriages, positional telescopic manipulators with grippers, a system for loading fruits into a container including double-sided symmetrical trays, vertical guides with servomotors, a belt conveyor, a container elevator and descent unit, a machine vision system including a laser optical rangefinder and 3D stereo cameras, characterized in that the vertical frames are made in the form of vertical spar frames connected by horizontal crossmembers, the spar frames are secured on movable linear profile rail guides with end linear displacement sensors and enter fixed profile bearing carriages rigidly secured to the platform symmetrically on both sides of the platform perpendicular to the longitudinal axis of symmetry of the wheel chassis, and linear electric drives with controllers mounted on the platform symmetrically relative to the side members are connected to the lower crossmembers, and at least one linear rodless electric drive with a controller and movable carriages with linear displacement sensors are secured to each crossmember, wherein servo drives with vertical shafts are installed on each movable carriage, and servo drives with horizontal shafts are secured to the vertical shafts, and positional manipulators are secured to each horizontal shaft, wherein each end section of each manipulator equipped with rotary servo drives with integrated absolute encoders and each end section relative to the axis of symmetry of the manipulator in the horizontal and vertical planes has an angle of rotation equal to at least 90°, wherein a 3D stereo camera is installed on each housing of each servo drive of the gripper, and a fruit accumulator is mated with the outlet openings of the trays by means of a technological gap, wherein the outlet openings of the trays and the fruit accumulator are equipped with gate valves with linear electric drives, wherein the outlet opening of the fruit accumulator is mated with a fruit distributor with oval guides, and the outlet opening of the fruit distributor is mated with a fruit guide-stacker with an end solid wall, the outlet space of the fruit guide-stacker is made in the form of soft elastic sleeves, round in cross-section, with a length at least not less than the depth of the container, wherein the axis of symmetry of the fruit distributor guides passes through the center of the diameters of the sleeves, on A servomotor with a controller connected to a threaded rod is installed on the solid end wall of the fruit guide-stacker, and the threaded rod is secured to the container lift-and-descent unit; a belt conveyor passes between the supports of the lift-and-descent unit, while the central controller, the integrated navigation system module, the peripheral controllers of all electric drives and 3D stereo cameras, containing at least one interface and operating autonomously, are combined into a common distributed control system.

Description

Scope of application The invention relates to agriculture, in particular to robotic machines for harvesting fruit from fruit trees in industrial horticulture. State of the art A multi-robot harvesting machine is known, comprising: a trailer chassis with an electronic unit, including a power source, several computers with processors that provide image identification and control of the machine; a vertical frame with a conveyor for collecting fruits, several robots consisting of movable manipulators and mounted on the frame at a fixed angle depending on the type of agricultural crops parallel to each other, wherein the manipulators are equipped with grippers, with the possibility of linear movement in the direction of the fruits; one or more sensors that are fixed relative to the frame and do not move together with the robot manipulators and are configured to receive images of specified objects; one or more computers that are configured to recognize agricultural crops in images obtained using sensors that include appropriate cameras, laser scanners and those fixed relative to the frame, and also configured to control robots for collecting the recognized agricultural crops, wherein the fruit collection area is divided into several spatial sectors, and each of the robots is configured to collect the crop in the corresponding spatial sector, wherein the computers are configured in such a way as to direct the robot to the agricultural object only after a conclusion is made on the basis of the images that the given robot will be able to successfully capture the agricultural object from a fixed approach angle (patent US 9475189 B2, 25.10.2016) [1]. The disadvantage of this machine is the need for manual control (driving) of the machine when performing harvesting work in orchard plantings, low efficiency of fruit collection in the depth of the tree crown, a fixed position of the vertical frame with robots and a fixed angle of the robot arm. A robotic fruit picking machine with paired fruit picking and hybrid motorized-pneumatic manipulators is known, comprising: a portable platform; a vertical frame mounted on the platform opposite the sector to be harvested; a plurality of linear robots with four degrees of freedom, equipped with pneumatic and electric drive mechanisms for extending and retracting the arm of each robot, arranged in pairs vertically in the frame, wherein each pair consists of a first and second robots that can move together along a vertical axis, move independently of each other along a horizontal axis and have corresponding first and second manipulators that can approach the sector and collect fruits; a plurality of cameras configured to obtain images of the sector; a processor that recognizes grouped pairs of fruits in images and directs a pair of robots so that they connect with each other and synchronously collect fruits from the grouped pair, wherein the processor is configured to construct, based on the images, a sector model indicating three-dimensional coordinates of the fruits, the orientation of the fruits and their state, and to obtain from the model a work schedule for a plurality of robots and is configured to control the robot manipulator to approach the sector by jointly controlling the pneumatic drive mechanism and the drive mechanism with an electric motor (patent US 11477942 B2, 25.12.2022) [2]. The disadvantage of this machine is the increased energy consumption due to the use of a pneumatic drive mechanism, low efficiency of fruit collection in the depth of the tree crown, a fixed position of the vertical frame and a fixed angle of the robot arm, which limits the use of the machine under various parameters of an intensive orchard and damages the crown of fruit trees, due to the fact that the location of fruits, for example, apples on tree branches have an arbitrary, diverse orientation in space, which, as a rule, differs between fruits. Therefore, four degrees of freedom of linear robots are insufficient - this reduces the quality of fruit collection, an imperfect system for packing fruits into containers leads to damage to fruits in containers during the operation of their transfer to the container. The technical objective of the invention is to increase the efficiency of the agro-technological operation of harvesting fruit from fruit trees, to minimize damage to the tree crown, and to reduce damage to fruit to the maximum permissible values established by agro-technical requirements. Disclosure of invention The stated technical problem is achieved in that in a robotic machine for harvesting fruits from fruit trees, containing a self-propelled wheeled chassis, including a horizontal rectangular platform with a subframe platform, guide and drive wheels with drives from electric motors, an autonomous power supply system, including a battery pack, a control and navigation system, including a central controller with a control computer, peripheral controllers, interface modules, a cha