CN113057023A - Intelligent humanoid grape picking robot - Google Patents
Intelligent humanoid grape picking robot Download PDFInfo
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- CN113057023A CN113057023A CN202110452635.5A CN202110452635A CN113057023A CN 113057023 A CN113057023 A CN 113057023A CN 202110452635 A CN202110452635 A CN 202110452635A CN 113057023 A CN113057023 A CN 113057023A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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Abstract
An intelligent humanoid grape picking robot comprises a trolley, a robot body, a left clamping mechanical arm, a binocular stereo camera, a human-computer interaction panel, a right shearing mechanical arm, a remote controller and a fruit picking basket; the trolley comprises a base and an omnidirectional wheel, and the omnidirectional wheel is arranged at the bottom of the base; the robot body is of a vertically arranged human-body-imitating frame structure and is fixedly and vertically arranged on the base; the left arm of the clamping machine and the right arm of the shearing machine are symmetrically arranged and installed along the left side and the right side of the robot body respectively; the binocular stereo camera and the human-computer interaction panel are fixedly arranged at the upper position of the front side of the robot body; the fruit picking basket is fixedly arranged on a base positioned in front of the robot body; the remote control configures the settings independently. The beneficial effects are that: the whole structure of the device and the operation process are designed by simulating a human body, the intelligent degree is high, the picking process is scientific and reasonable, the continuous picking and placing of the whole grape bunch can be realized, the flexibility is high, and the adaptability is strong.
Description
Technical Field
The invention relates to the technical field of grape picking, in particular to an intelligent humanoid robot for picking grapes.
Background
China has a large area of planted grapes, and the grape picking task is very heavy in the grape maturing season. The existing grape picking operation mainly adopts manual picking, and the fresh grape picking operation has the characteristic of strong seasonality, so that the grape picking operation has the problems of high labor demand, high labor intensity, high cost, low efficiency and the like in a short period. However, in order to realize mechanization and intellectualization of grape picking operation, effectively improve picking efficiency, reduce labor intensity and production cost and liberate labor force, the intelligent humanoid grape picking robot has important application value and practical significance in realizing field autonomous picking of grapes.
In order to solve the above problems, those skilled in the art have developed and designed many mechanical devices for grape picking for reducing the manual requirements. The common industrialized grape picking equipment at the present stage generally adopts a mechanical vibration type or a pneumatic vibration type, the non-selective picking mode cannot identify the maturity of grapes, the fruit breakage rate is high, and the grape picking machine is only suitable for picking wine grapes and is not suitable for picking fresh grapes. Other patent technologies disclosed in the prior art have low intelligence and poor practicability. For example, the chinese invention patent (No. CN 106342484B) discloses a clamping and rotary cutting type under-actuated two-finger grape picking device, which mainly comprises an under-actuated finger mechanism, a rotating mechanism, a pushing mechanism, a rotary cutting mechanism, a wrist connecting mechanism, a main support plate and a binocular camera. The pressure sensor based on force feedback realizes that the under-actuated two-finger mobile mechanism flexibly grabs the grape bunch, and the rotary cutting servo mechanism based on the binocular vision system identifies, positions and performs rotary cutting operation on the grape fruit stalks. The device mechanical structure is more complicated, and maneuverability is not strong, and the device can not independently remove simultaneously, needs the manual work to accomplish and removes, and the flexibility is not high. For another example, the chinese patent application No. 201710815220.3 discloses a grape picking device, which comprises a power mechanism, a picking robot, a grape collecting mechanism and a traveling mechanism. The power mechanism comprises an engine, a hydraulic pump and a generator set, a transfer case is arranged at the output end of the engine, the output end of the transfer case is respectively connected with the hydraulic pump, the air compressor set and the generator set, and the output end of the transfer case is also connected with the grape collection mechanism through a belt. The input end of the hydraulic pump is connected with the hydraulic station; the generator set is used for providing power for the control system. The device adopts the engine to provide power, has not only increased the weight of whole device, but also has increased vibration and noise, and picking robot adopts pneumatic cylinder and pneumatic cylinder drive, need provide hydraulic pressure station and air supply, has not only increased the volume and the input cost of equipment, has reduced the mobility and the flexibility of the device moreover.
The technology and the grape picking equipment have the main defects of low intelligent degree, poor flexibility, low operability, inapplicability in the actual production process and incapability of being effectively implemented.
Disclosure of Invention
The invention aims to solve the problems of low intelligent degree, poor flexibility, complex operation and inapplicability of grape picking equipment in the prior art, and provides an intelligent humanoid grape picking robot capable of intelligently and automatically walking and picking.
In order to achieve the purpose, the technical scheme adopted by the invention is that a picking robot structure is arranged in a form of imitating a human body structure, and picking is carried out by clamping one side and shearing the other side through the operation of a left mechanical arm and a right mechanical arm. The method comprises the steps of collecting grape images through a binocular stereo camera, and carrying out grape image segmentation, contour extraction, picked target image identification, fruit stem picking point positioning and calculation of the anti-collision enclosure body through a binocular stereo vision system. The robot can automatically and accurately complete the picking operation of grapes by planning the kinematics and collision-free paths of the left mechanical arm and the right mechanical arm through the intelligent control system, and is provided with the universal wheel walking trolley, so that the robot is intelligently controlled to move and cooperate, and the robot can complete continuous intelligent picking operation.
The invention discloses an intelligent humanoid grape picking robot which comprises a trolley, a robot body, a left clamping mechanical arm, a binocular stereo camera, a man-machine interaction panel, a right shearing mechanical arm, a remote controller and a fruit picking basket, wherein the left clamping mechanical arm is connected with the left shearing mechanical arm; the trolley comprises a base and an omnidirectional wheel, and the omnidirectional wheel is arranged at the bottom of the base; the robot body is of a vertically arranged human-body-imitating frame structure and is fixedly and vertically arranged on the base; the left arm of the clamping machine and the right arm of the shearing machine are symmetrically arranged and installed along the left side and the right side of the robot body respectively; the binocular stereo camera and the human-computer interaction panel are fixedly arranged at the upper position of the front side of the robot body; the fruit picking basket is fixedly arranged on a base positioned in front of the robot body; the remote control configures the settings independently.
A power supply is configured and mounted on the base; an intelligent controller is fixedly arranged on the robot body; the left arm of the clamping machine is formed by fixedly connecting a left shoulder joint, a left elbow joint and a left wrist joint in sequence, the lower end of the left shoulder joint is arranged on the left side of the robot body in a configuration mode, the tail end of the left wrist joint is provided with a clamping infrared distance measuring sensor and a tail end clamping device, and the tail end clamping device is provided with a pressure sensor; the right arm of the shearing machine is formed by fixedly connecting a right shoulder joint, a right elbow joint and a right wrist joint in sequence, the lower end of the right shoulder joint is arranged on the right side of the robot body, and the tail end of the right wrist joint is provided with a shearing infrared distance measuring sensor and a tail end shearing device.
The robot body passes through the intelligent control ware respectively with the omniwheel of dolly, two mesh stereo camera, the human-computer interaction panel, centre gripping machinery left arm and shearing machinery right arm circuit connect constitute intelligent control system, be the entire system power supply through the power on the connection base, wherein, the intelligent control ware on the robot body respectively with two mesh stereo camera, the human-computer interaction panel, centre gripping infrared ranging sensor, pressure sensor and shearing infrared ranging sensor data transmission are connected, the intelligent control ware of robot body respectively with the omniwheel, the left shoulder joint on the centre gripping machinery left arm, the left elbow joint, the left wrist joint, the right shoulder joint on terminal clamping device and the shearing machinery right arm, the right elbow joint, the right wrist joint, terminal shearing mechanism control circuit connects.
The remote controller is connected with an intelligent controller on the robot body through wireless transmission module configuration, the remote controller comprises a robot control module, a clamping mechanical left arm control module, a trolley control module and a shearing mechanical right arm control module, the remote controller controls an intelligent control system for opening the robot body through the robot control module, the remote controller controls an omnidirectional wheel of an operation trolley through the trolley control module, and the remote controller controls and operates the clamping mechanical left arm and the shearing mechanical right arm respectively through the clamping mechanical left arm control module and the shearing mechanical right arm control module.
The base on the trolley is of a cuboid structure.
The trolley is respectively provided with a group of omnidirectional wheels along the front and the rear positions, each group of omnidirectional wheels is provided with a driving device consisting of an independent servo motor and a speed reducer, and the omnidirectional wheels are controlled by an intelligent controller through the driving device.
The fruit picking basket is detachably arranged on the base, handles are arranged on two sides of the fruit picking basket, and a lattice frame is arranged inside the fruit picking basket.
The left shoulder joint, the left elbow joint, the left wrist joint and the tail end clamping device on the left arm of the clamping machine are respectively provided with an independent servo driving motor; the left shoulder joint can realize three rotational degrees of freedom, the left elbow joint can realize one rotational degree of freedom, and the left wrist joint can realize three rotational degrees of freedom, namely the left arm of the clamping machine can realize seven rotational degrees of freedom; the tail end clamping device is provided with a clamping mechanism, and the opening and closing clamping operation is realized through a control motor.
The right shoulder joint, the right elbow joint, the right wrist joint and the tail end shearing device on the right arm of the shearing machine are respectively provided with an independent servo driving motor; the right shoulder joint can realize three rotational degrees of freedom, the right elbow joint can realize one rotational degree of freedom, and the right wrist joint can realize three rotational degrees of freedom, namely the right arm of the shearing machine can realize seven rotational degrees of freedom; the tail end shearing device is provided with a shearing mechanism, and the opening and closing shearing operation is realized by controlling a motor.
And the robot control module, the clamping machine left arm control module, the trolley control module and the shearing machine right arm control module on the remote controller are respectively provided with corresponding operating buttons. The operation buttons of the robot control module comprise start, stop and emergency stop buttons; the operation button for clamping the mechanical left arm control module comprises a left shoulder joint, a left elbow joint, a rotation and flexion-extension button of a left wrist joint and an opening-closing button of a tail end clamping device; the operating buttons of the trolley control module comprise forward, backward, left-turn and right-turn buttons of the trolley; the operating buttons of the right arm control module of the shearing machine comprise a right shoulder joint, a right elbow joint, a rotation button and a flexion-extension button of a right wrist joint and an opening-closing button of a tail end shearing device.
The invention has the beneficial effects that: the whole structure and the operation process of the device are designed by imitating a human body, the intelligent degree is high, the picking process is scientific and reasonable, the continuous picking and placing of the whole bunch of grapes can be realized, the fresh grapes are completely picked, and the problem that the picking of the device is easy to break is avoided; the intelligent identification and positioning can automatically identify the maturity of the grapes, ensure the picking accuracy and improve the picking quality of the grapes; the operation is picked in the arm cooperation about, and the portable base of omni-directional wheel can guarantee that the robot realizes 360 degrees arbitrary directions's combined motion and removes the operation, makes it can accomplish the operation of picking in the narrow and small space in vineyard, and the flexibility ratio is high, strong adaptability.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the cart of the present invention;
FIG. 3 is a schematic view of a left arm of the clamping mechanism of the present invention;
FIG. 4 is a schematic view of the right arm of the shearing machine of the present invention;
FIG. 5 is a schematic diagram of a remote controller according to the present invention;
FIG. 6 is a flow chart of the robotic picking action of the present invention;
in the drawings: the robot comprises a trolley 100, a base 110, an omnidirectional wheel 120, a robot body 200, a left arm 300 of a clamping machine, a left shoulder joint 310, a left elbow joint 320, a left wrist joint 330, a clamping infrared distance measuring sensor 331, a tail end clamping device 340, a pressure sensor 341, a binocular stereo camera 400, a man-machine interaction panel 500, a right arm 600 of a shearing machine, a right shoulder joint 610, a right elbow joint 620, a right wrist joint 630, a shearing infrared distance measuring sensor 631, a tail end shearing device 640, a remote controller 700, a robot control module 710, a left arm control module 720 of the clamping machine, a trolley control module 730, a right arm control module 740 of the shearing machine and a fruit picking basket 800.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail with reference to the embodiments.
As shown in fig. 1-5, the intelligent humanoid grape picking robot comprises a trolley 100, a robot body 200, a clamping machine left arm 300, a binocular stereo camera 400, a human-computer interaction panel 500, a shearing machine right arm 600, a remote controller 700 and a fruit picking basket 800; the trolley 100 comprises a base 110 and an omnidirectional wheel 120, wherein the omnidirectional wheel 120 is configured and arranged at the bottom of the base 110; the robot body 200 is a vertically arranged human-body-like frame structure and is fixedly and vertically arranged on the base 110; the left arm 300 of the clamping machine and the right arm 600 of the shearing machine are symmetrically arranged and installed along the left side and the right side of the robot body 200 respectively; the binocular stereo camera 400 and the human-computer interaction panel 500 are fixedly arranged at the upper position of the front side of the robot body 200; the fruit picking basket 800 is fixedly installed on the base 110 positioned in front of the robot body 200; remote controller 700 configures settings independently;
a power supply is configured and mounted on the base 110; an intelligent controller is fixedly arranged on the robot body 200; the clamping mechanical left arm 300 is formed by fixedly connecting a left shoulder joint 310, a left elbow joint 320 and a left wrist joint 330 in sequence, the lower end of the left shoulder joint 310 is arranged on the left side of the robot body 200 in a configuration mode, the tail end of the left wrist joint 330 is provided with a clamping infrared distance measuring sensor 331 and a tail end clamping device 340, and the tail end clamping device 340 is provided with a pressure sensor 341; the right arm 600 of the shearing machine is formed by fixedly connecting a right shoulder joint 610, a right elbow joint 620 and a right wrist joint 630 in sequence, the lower end of the right shoulder joint 610 is arranged at the right side of the robot body 200, and the tail end of the right wrist joint 630 is provided with a shearing infrared ranging sensor 631 and a tail end shearing device 640;
the robot body 200 is respectively in circuit connection with the omnidirectional wheel 120, the binocular stereo camera 400, the human-computer interaction panel 500, the left arm 300 of the clamping machine and the right arm 600 of the shearing machine of the trolley 100 through an intelligent controller to form an intelligent control system, the power supply on the connecting base 110 is used for supplying power to the whole system, the intelligent controller of the robot body 200 is respectively connected with the binocular stereo camera 400, the human-computer interaction panel 500, the clamping infrared ranging sensor 331, the pressure sensor 341 and the shearing infrared ranging sensor 631 in a data transmission manner, and the intelligent controller of the robot body 200 is respectively connected with the omnidirectional wheel 120, the left shoulder joint 310, the left elbow joint 320, the left wrist joint 330 and the tail end clamping device 340 on the clamping mechanical left arm 300 and the control circuit of the right shoulder joint 610, the right elbow joint 620, the right wrist joint 630 and the tail end shearing device 640 on the shearing mechanical right arm 600;
the remote controller 700 is connected with an intelligent controller on the robot body 200 in a configuration mode through a wireless transmission module, the remote controller 700 comprises a robot control module 710, a clamping machine left arm control module 720, a trolley control module 730 and a shearing machine right arm control module 740, the remote controller 700 controls the intelligent control system for opening the robot body 200 through the robot control module 710, the remote controller 700 controls the omnidirectional wheel 120 of the operating trolley 100 through the trolley control module 730, and the remote controller 700 controls and operates the clamping machine left arm 300 and the shearing machine right arm 600 through the clamping machine left arm control module 720 and the shearing machine right arm control module 740 respectively.
The base 110 of the cart 100 is a rectangular parallelepiped.
The trolley 100 is respectively provided with a set of omni wheels 120 along the front and rear positions, each set of omni wheels 120 is provided with a driving device consisting of an independent servo motor and a speed reducer, and the omni wheels 120 are controlled by an intelligent controller through the driving device.
The fruit picking basket 800 is detachably arranged on the base 110, handles are arranged on two sides of the fruit picking basket 800, and a lattice frame is arranged inside the fruit picking basket.
The left shoulder joint 310, the left elbow joint 320, the left wrist joint 330 and the end clamping device 340 on the left arm 300 of the clamping machine are respectively provided with independent servo driving motors; the left shoulder joint 310 can realize three rotational degrees of freedom, the left elbow joint 320 can realize one rotational degree of freedom, and the left wrist joint 330 can realize three rotational degrees of freedom, namely the left arm 300 of the clamping machine can realize seven rotational degrees of freedom; the terminal clamping device 340 is provided with a clamping mechanism, and the opening and closing clamping operation is realized by controlling a motor.
The right shoulder joint 610, the right elbow joint 620, the right wrist joint 630 and the end shearing device 640 on the right arm 600 of the shearing machine are respectively provided with independent servo driving motors; the right shoulder joint 610 can realize three rotational degrees of freedom, the right elbow joint 620 can realize one rotational degree of freedom, and the right wrist joint 630 can realize three rotational degrees of freedom, namely the right arm 600 of the shearing machine can realize seven rotational degrees of freedom; the end shearing device 640 is provided with a shearing mechanism, and the opening and closing shearing operation is realized by controlling a motor.
The robot control module 710, the left arm clamping control module 720, the trolley control module 730 and the right arm shearing control module 740 on the remote controller 700 are respectively provided with corresponding operating buttons, the operating buttons of the robot control module 710 comprise start, stop and emergency stop buttons, the operating buttons of the left arm clamping control module 720 comprise a left shoulder joint 310, a left elbow joint 320, a rotation and flexion button of a left wrist joint 330 and an opening and closing button of a tail end clamping device 340, the operating buttons of the trolley control module 730 comprise a forward, backward, left turn and right turn button of a trolley, and the operating buttons of the right arm shearing control module 740 comprise a right shoulder joint 610, a right elbow joint 620, a rotation and flexion and extension button of a right wrist joint 630 and an opening and closing button of a tail end shearing device 640.
Example 1
Referring to fig. 6, a picking action flow chart of the robot is shown, the intelligent humanoid grape picking robot provided by the invention has the following specific operation steps:
step 1: starting the robot: the equipment is started by controlling the button through the robot control module 710 on the remote controller 700, so that the intelligent control system on the whole equipment is powered on and started, and all electrical components on the trolley 100, the robot body 200, the binocular stereo camera 400, the human-computer interaction panel 500, the left arm 300 of the clamping machine, the right arm 600 of the shearing machine and the remote controller 700 are in a working standby state.
Step 2: the robot moves to reach the designated position: the cart control module 730 on the remote controller 700 operates the buttons to move the entire apparatus to a designated start position of the picking site.
And step 3: robot initialization: the intelligent automatic picking mode is started through an intelligent controller of the robot body 200, all electrical components on the whole equipment execute and complete initialization according to system setting parameters, so that the binocular stereo camera 400, the human-computer interaction panel 500, the image acquisition card and the data acquisition card on the clamping infrared ranging sensor 331, the pressure sensor 341 and the shearing infrared ranging sensor 631 are cleared to zero, and the omnidirectional wheel 120, the left shoulder joint 310 on the clamping mechanical left arm 300, the left elbow joint 320, the left wrist joint 330, the tail end clamping device 340, the right shoulder joint 610 on the shearing mechanical right arm 600, the right elbow joint 620, the right wrist joint 630 and the tail end shearing device 640 are reset to an initial working setting state according to system setting.
And 4, step 4: resetting the mechanical arm: and judging whether the left arm 300 of the clamping machine and the right arm 600 of the shearing machine reset or not, if not, continuing to execute the initialization command by the left arm 300 of the clamping machine and the right arm 600 of the shearing machine, and if so, executing the next operation.
And 5: resetting the mechanical arm tail end executing device: and judging whether the tail end clamping device 340 of the left arm 300 of the clamping machine and the tail end shearing device 640 of the right arm 600 of the shearing machine reset or not, if not, initializing tail end execution devices of the left arm 300 of the clamping machine and the right arm 600 of the shearing machine, and if so, executing the next operation.
Step 6: detecting a grape target: the binocular stereo camera 400 starts to detect the grape targets within the set distance range, whether the grapes meet the picking requirements is judged according to system setting, if not, the detection is continuously executed, and if yes, the next operation is executed.
And 7: collecting grape images: the binocular stereo camera 400 is used for collecting grape images meeting the picking requirements, and the image collecting card is used for transmitting the collected grape image data to the intelligent controller in real time.
And 8: and (3) grape image segmentation: and segmenting the grape image through a binocular stereo vision system.
And step 9: extracting the grape contour: and extracting the grape outline through a binocular stereo vision system.
Step 10: recognizing the picked target image: and identifying the picked target image through a binocular stereoscopic vision system.
Step 11: positioning fruit stem picking points: and positioning the fruit stem picking points through a binocular stereoscopic vision system.
Step 12: and (3) calculating an anti-collision enclosure: and calculating the anti-collision enclosure through a binocular stereo vision system.
Step 13: and (3) kinematic planning: and according to the position and the distance of the anti-collision enclosure body, a robot kinematics model is quickly established through the robot intelligent control system, and a forward and inverse kinematics solution is solved and planned.
Step 14: and (3) collision-free path planning: and (3) planning the actions and collision-free paths of the left arm 300 of the clamping machine and the right arm 600 of the shearing machine according to the planned kinematic model and path and by combining the motion functions and ranges of the left arm 300 of the clamping machine and the right arm 600 of the shearing machine of the robot.
Step 15: grape clamping operation: according to the planned motion path of the left arm 300 of the clamping machine, the intelligent controller controls and operates the left shoulder joint 310, the left elbow joint 320, the left wrist joint 330 and the tail end clamping device 340 on the left arm 300 of the clamping machine to carry out linkage operation, and the position of the tail end clamping device 340 is monitored in real time through the clamping infrared distance measuring sensor 331, so that the clamping part of the tail end clamping device 340 moves to a picking point; then the intelligent controller controls the tail end clamping device 340 to clamp the fruit stalks of the picking points, the pressure sensor 341 on the tail end clamping device 340 detects the clamping force of the fruit stalks, and the closing action is stopped when the clamping force reaches a set value, so that the clamping operation is completed.
Step 16: grape picking operation: according to the planned motion path of the right arm 600 of the shearing machine, the right shoulder joint 610, the right elbow joint 620, the right wrist joint 630 and the tail end shearing device 640 on the right arm 600 of the shearing machine are controlled and operated by the intelligent controller to carry out linkage operation, and the position of the tail end shearing device 640 is monitored in real time by the shearing infrared distance measuring sensor 631, so that the scissors mechanism of the tail end shearing device 640 moves to a position 5-10cm above a picking point; then, the intelligent controller controls the tail end shearing device 640 to shear the fruit stalks above the picking points, so that the grape fruits are separated from the mother stalks, and the picking operation is completed.
Step 17, grape collection: the intelligent controller controls and operates the left shoulder joint 310, the left elbow joint 320, the left wrist joint 330 and the tail end clamping device 340 on the left arm 300 of the clamping machine to perform linkage operation, the tail end clamping device 340 with grape fruits is moved to the position above the fruit picking basket 800 according to the position of the fruit picking basket 800, then the intelligent controller controls and operates the clamping structure of the tail end clamping device 340 to open, the grape fruits fall into the fruit picking basket 800, and the collection operation is completed.
Step 18: and (3) finishing the single grape picking task, controlling and operating the left arm 300 of the clamping machine and the right arm 600 of the shearing machine to reset by the intelligent controller, returning to the step 6, and picking other grapes meeting the picking requirements.
Step 19: when the binocular stereo camera 400 cannot detect the grapes meeting the picking requirements within the set distance range, the intelligent controller moves the trolley 100 to other positions by controlling the omni-directional wheels 120 of the trolley 100, and the picking action is executed from step 3.
Claims (7)
1. The utility model provides an imitative people grape of intelligence picks machine people which characterized in that: the fruit picking device comprises a trolley (100), a robot body (200), a clamping mechanical left arm (300), a binocular stereo camera (400), a man-machine interaction panel (500), a shearing mechanical right arm (600), a remote controller (700) and a fruit picking basket (800); the trolley (100) comprises a base (110) and an omnidirectional wheel (120), wherein the omnidirectional wheel (120) is configured and arranged at the bottom of the base (110); the robot body (200) is of a vertically arranged human-body-imitating frame structure and is fixedly and vertically arranged on the base (110); the clamping mechanical left arm (300) and the shearing mechanical right arm (600) are symmetrically arranged and installed along the left side and the right side of the robot body (200) respectively; the binocular stereo camera (400) and the man-machine interaction panel (500) are fixedly arranged at the upper position of the front side of the robot body (200); the fruit picking basket (800) is fixedly arranged on a base (110) positioned in front of the robot body (200); the remote controller (700) independently configures the settings;
a power supply is configured and mounted on the base (110); an intelligent controller is fixedly arranged on the robot body (200); the clamping mechanical left arm (300) is formed by fixedly connecting a left shoulder joint (310), a left elbow joint (320) and a left wrist joint (330) in sequence, the lower end of the left shoulder joint (310) is arranged on the left side of the robot body (200), the tail end of the left wrist joint (330) is provided with a clamping infrared distance measuring sensor (331) and a tail end clamping device (340), and the tail end clamping device (340) is provided with a pressure sensor (341); the right arm (600) of the shearing machine is formed by fixedly connecting a right shoulder joint (610), a right elbow joint (620) and a right wrist joint (630) in sequence, the lower end of the right shoulder joint (610) is arranged on the right side of the robot body (200), and the tail end of the right wrist joint (630) is provided with a shearing infrared ranging sensor (631) and a tail end shearing device (640);
the intelligent control system is characterized in that the robot body (200) is respectively in circuit connection with the omnidirectional wheel (120) of the trolley (100), the binocular stereo camera (400), the human-computer interaction panel (500), the clamping mechanical left arm (300) and the shearing mechanical right arm (600) to form the intelligent control system, and the power supply on the connecting base (110) is used for supplying power to the whole system, wherein the intelligent controller of the robot body (200) is respectively in data transmission connection with the binocular stereo camera (400), the human-computer interaction panel (500), the clamping infrared ranging sensor (331), the pressure sensor (341) and the shearing infrared ranging sensor (631), and the intelligent controller of the robot body (200) is respectively in data transmission connection with the omnidirectional wheel (120), the left shoulder joint (310) on the clamping mechanical left arm (300), the left elbow joint (320), the left wrist joint (330), the tail end clamping device (340) and the right shoulder joint (610) on the shearing mechanical right arm (600), The right elbow joint (620), the right wrist joint (630) and the tail end shearing device (640) are connected by a control circuit;
the remote controller (700) is connected with an intelligent controller on the robot body (200) in a configuration mode through a wireless transmission module, and the remote controller (700) comprises a robot control module (710), a clamping machine left arm control module (720), a trolley control module (730) and a shearing machine right arm control module (740); the remote controller (700) controls and starts an intelligent control system of the robot body (200) through the robot control module (710), the remote controller (700) controls and operates the omnidirectional wheel (120) of the trolley (100) through the trolley control module (730), and the remote controller (700) respectively controls and operates the clamping mechanical left arm (300) and the shearing mechanical right arm (600) through the clamping mechanical left arm control module (720) and the shearing mechanical right arm control module (740).
2. The intelligent humanoid grape picking robot of claim 1, wherein: the base (110) on the trolley (100) is of a cuboid structure.
3. The intelligent humanoid grape picking robot of claim 1, wherein: the trolley (100) is respectively provided with a group of omnidirectional wheels (120) along the front and back positions, each group of omnidirectional wheels (120) is provided with a driving device consisting of an independent servo motor and a speed reducer, and the omnidirectional wheels (120) are controlled by an intelligent controller through the driving device.
4. The intelligent humanoid grape picking robot of claim 1, wherein: the fruit picking basket (800) is detachably arranged on the base (110), handles are arranged on two sides of the fruit picking basket (800), and a lattice frame is arranged inside the fruit picking basket.
5. The intelligent humanoid grape picking robot of claim 1, wherein: the left shoulder joint (310), the left elbow joint (320), the left wrist joint (330) and the tail end clamping device (340) on the left arm (300) of the clamping machine are respectively provided with independent servo driving motors; the left shoulder joint (310) can realize three rotational degrees of freedom, the left elbow joint (320) can realize one rotational degree of freedom, and the left wrist joint (330) can realize three rotational degrees of freedom, namely the left arm (300) of the clamping machine can realize seven rotational degrees of freedom; the tail end clamping device (340) is provided with a clamping mechanism, and the opening and closing clamping operation is realized through a control motor.
6. The intelligent humanoid grape picking robot of claim 1, wherein: a right shoulder joint (610), a right elbow joint (620), a right wrist joint (630) and a tail end shearing device (640) on a right arm (600) of the shearing machine are respectively provided with independent servo driving motors; the right shoulder joint (610) can realize three rotational degrees of freedom, the right elbow joint (620) can realize one rotational degree of freedom, and the right wrist joint (630) can realize three rotational degrees of freedom, namely the right arm (600) of the shearing machine can realize seven rotational degrees of freedom; the tail end shearing device (640) is provided with a shearing mechanism, and the opening and closing shearing operation is realized by controlling a motor.
7. The intelligent humanoid grape picking robot of claim 1, wherein: the robot control module (710), the clamping machine left arm control module (720), the trolley control module (730) and the shearing machine right arm control module (740) on the remote controller (700) are respectively provided with corresponding operating buttons, the operation buttons of the robot control module (710) comprise start, stop and scram buttons, the operation buttons of the clamping mechanical left arm control module (720) comprise a left shoulder joint (310), a left elbow joint (320), a rotation and bending button of a left wrist joint (330) and an opening and closing button of the tail end clamping device (340), the operation buttons of the trolley control module (730) comprise forward, backward, left-turn and right-turn buttons of a trolley, the operating buttons of the right arm control module (740) of the shearing machine comprise a right shoulder joint (610), a right elbow joint (620), a rotating button and a bending button of a right wrist joint (630) and an opening and closing button of a tail end shearing device (640).
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