CN114571487A

CN114571487A - Picking robot, picking method, picking apparatus, electronic device, and storage medium

Info

Publication number: CN114571487A
Application number: CN202210399457.9A
Authority: CN
Inventors: 张洊闻; 黄善胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-04-15
Filing date: 2022-04-15
Publication date: 2022-06-03
Anticipated expiration: 2042-04-15
Also published as: CN114571487B

Abstract

The invention relates to the field of fruit picking, in particular to a picking robot, a picking method, a picking device, electronic equipment and a storage medium. The picking robot comprises an unmanned aerial vehicle, mechanical arms and four mesh bags, wherein 4 rotor wings are uniformly distributed around the central position of the unmanned aerial vehicle; the mechanical arm is vertically arranged at the center of the top of the unmanned aerial vehicle, and a clamping jaw is arranged at one end of the mechanical arm, which is far away from the unmanned aerial vehicle; a force sensor is arranged on the clamping jaw; the clamping jaw can rotate around the central axis of the mechanical arm; a mesh bag is arranged between every two adjacent rotor wings, and the mesh bags are uniformly distributed around the center of the unmanned aerial vehicle; the mesh bag is vertically communicated, and an electromagnetic switch is arranged at the bottom opening and used for controlling the opening and closing of the bottom opening of the mesh bag. According to the invention, the unmanned aerial vehicle and the mechanical arm are combined, so that the mechanical arm can approach the target fruit growing on the fruit tree in a limited stroke range by means of the movement of the unmanned aerial vehicle, and the picking of the target fruit is realized.

Description

Picking robot, picking method, picking apparatus, electronic device, and storage medium

Technical Field

The invention relates to the field of fruit picking, in particular to a picking robot, a picking method, a picking device, electronic equipment and a storage medium.

Background

For fruit picking, two picking modes are generally adopted at the present stage, one of the two picking modes is manual picking, the mode wastes time and labor, and the picking efficiency is low; another way is to pick by using a robot, while the picking robot in the prior art is generally an AGV + mechanical arm structure, and the picking robot with such a structure is generally suitable for picking fruits near the ground, such as cherry tomatoes, strawberries, etc., however, for fruits growing on trees, such as apricots, apples, etc., because the structure is limited (considering the balance of the picking robot as a whole, the range of travel of the mechanical arm is limited), the fruits on the trees cannot be picked effectively; if only through extension arm or increase AGV, then reduce picking robot's whole equilibrium easily, lead to picking robot to topple easily, also can the holistic weight of greatly increased picking robot simultaneously, be not convenient for remove and control.

Accordingly, the prior art is in need of improvement and development.

Disclosure of Invention

The invention aims to provide a picking robot, a picking method, a picking device, an electronic device and a storage medium, which can effectively pick fruits growing on trees and located at high positions.

In a first aspect, the present application provides a picking robot for picking the fruit of growing on the tree, including unmanned aerial vehicle, unmanned aerial vehicle has 4 rotors around its central position evenly to encircle, picking robot still includes:

the mechanical arm is vertically arranged at the center of the top of the unmanned aerial vehicle, and one end of the mechanical arm, which is far away from the unmanned aerial vehicle, is provided with a clamping jaw; a force sensor is arranged on the clamping jaw; the clamping jaw can rotate around the central axis of the mechanical arm; the clamping jaw is used for clamping the fruit;

the four mesh bags are identical in size and shape; the mesh bag is arranged between every two adjacent rotor wings and evenly distributed around the center of the unmanned aerial vehicle; the mesh bag is vertically communicated, an electromagnetic switch is arranged at the bottom opening, and the electromagnetic switch is used for controlling the opening and closing of the bottom opening of the mesh bag.

Combine arm and unmanned aerial vehicle for picking robot can fly to the high altitude, thereby makes the fruit get into the stroke within range of arm, in order to realize picking.

Further, the fruit picking robot is further provided with a weight sensor, and the weight sensor is used for monitoring the bearing weight of the four mesh bags.

The bearing weight of each mesh bag is monitored in real time, and the overall balance of the picking robot is ensured.

In a second aspect, the present application provides a picking method for use in a control system of a picking robot as described in the first aspect, the picking method comprising the steps of:

s1, acquiring position information of a target fruit;

s2, controlling the picking robot to ascend to a specified position according to the position information;

s3, controlling the mechanical arm to grab the target fruit and putting the target fruit into the mesh bag;

and S4, controlling the picking robot to return to the ground to unload the target fruit.

Thereby the cooperation of unmanned aerial vehicle and arm is used and to be close to the position of target fruit rapidly to enable the arm and realize the harvesting to the target fruit, and the fruit of picking is put temporarily in the pocket to the effect of a plurality of fruits of picking is once risen to the sky to the realization.

Further, the specific steps in step S3 include:

s31, force feedback information of the force sensor is obtained;

s32, judging whether the target fruit is grabbed or not according to the force feedback information;

s33, controlling the unmanned aerial vehicle to descend and controlling the clamping jaw to rotate when the target fruit is grabbed by the mechanical arm, so that the target fruit is stressed to be picked from the fruit tree;

s34, acquiring force change information of the force sensor;

and S35, judging whether the target fruit is picked or not according to the force change information.

Whether the mechanical arm correctly grabs the target fruit or not can be quickly judged through the force sensor, and the target fruit can be smoothly picked from the fruit tree.

Further, the specific steps in step S3 include:

and S36, controlling the mechanical arm to carry the target fruits to be placed in the corresponding net bags according to a preset placing sequence.

Further, the specific steps in step S3 include:

s37, acquiring weight information of each mesh bag through a weight sensor;

and S38, controlling the mechanical arm to carry the target fruit to be placed in a net bag with the smallest weight according to the weight information.

Further, the specific steps in step S4 include:

s41, controlling the picking robot to move to a placing point on the ground;

s42, after the placement point is reached, controlling the electromagnetic switch to be turned on so that the target fruit is unloaded from the mesh bag;

s43, after the target fruits are completely unloaded, controlling the electromagnetic switch to be closed.

In a third aspect, the present invention also provides a picking device for use in a control system of a picking robot as described in the first aspect, the picking device comprising:

the acquisition module is used for acquiring the position information of the target fruit;

the first control module is used for controlling the picking robot to lift to a specified position according to the position information;

the second control module is used for controlling the mechanical arm to grab the target fruit and put the target fruit into the mesh bag;

and the third control module is used for controlling the picking robot to return to the ground to unload the target fruit.

Unmanned aerial vehicle and the collaborative operation of arm make picking robot can pluck the fruit that is located the fruit tree smoothly, need not to be equipped with the arm of overlength, and picking robot holistic weight is also lighter.

In a fourth aspect, the present invention provides an electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the above picking method.

In a fifth aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the picking method as described above.

According to the picking robot, on the first hand, the picking robot can move in the air by arranging the unmanned aerial vehicle, so that the problem that fruits cannot be grabbed due to the structural limitation of the mechanical arm per se is solved; in the second aspect, the picking robot is also provided with 4 rotors and 4 mesh bags in a uniformly distributed manner, one can ensure that the picking robot can accommodate enough fruits at one time, the number of times of reciprocating is reduced, and the other can ensure that the picking robot can keep balance when the fruits are collected, so that the out-of-control situation is avoided; and in the third aspect, the magnetic control switch is arranged at the bottom of the mesh bag, so that the quick unloading can be realized without manual operation in real time.

Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Fig. 1 is a schematic structural diagram of a picking robot in one direction according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of another direction of the picking robot provided in the embodiment of the present application.

Fig. 3 is a flowchart of a picking method provided in an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a picking device provided in the embodiment of the present application.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Description of reference numerals:

100. an unmanned aerial vehicle; 110. a rotor; 200. a mechanical arm; 210. a clamping jaw; 300. a mesh bag; 310. an electromagnetic switch; 400. an acquisition module; 500. a first control module; 600. a second control module; 700. a third control module; 1301. a processor; 1302. a memory; 1303. a communication bus.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

In modern agriculture, often can use the robot to assist to pick or the automatic picking of direct control robot replaces artifical picking in order to provide picking efficiency, and this type of picking robot generally is the compound robot that AGV and arm are constituteed, thereby this picking robot walks on subaerial through crawler-type AGV or sufficient AGV and drives the arm and reachs different positions, and the fruit on the plant is picked to the rethread control arm accomplishes whole picking task. However, most plants, such as apple trees, apricot trees, etc., have some fruits growing on the top of the fruit tree, and the height of the fruit exceeds the range of the mechanical arm, so that the mechanical arm cannot finish picking normally, or the mechanical arm has difficulty in passing through intricate branches from the bottom of the fruit tree to the top of the fruit tree to grab the top of the fruit (forcing the branches to pass through the branches can cause damage to the fruit tree, the mechanical arm and the fruits). And the simple length through increasing the arm, not only improved the holistic cost of picking robot, still need arrange bigger heavier AGV just can keep the holistic stability of picking robot (the holistic focus of picking robot can squint when the arm extends, need bigger heavier AGV just can ensure that the focus is located AGV all the time and be unlikely to lead to the picking robot to topple over), thereby leaded to the holistic weight of picking robot to increase, this is unfavorable for picking robot in orchard, the big-arch shelter etc. is complicated and narrow space realizes smooth and easy and stable removal.

In certain preferred embodiments, a picking robot for picking fruits grown on trees (the fruits on the trees are at a certain height distance from the ground) comprises a drone 100 having 4 rotors 110 evenly distributed around its central position on the drone 100, the picking robot further comprising:

the mechanical arm 200 is vertically arranged at the center of the top of the unmanned aerial vehicle 100, and one end, away from the unmanned aerial vehicle 100, of the mechanical arm 200 is provided with a clamping jaw 210; a force sensor is arranged on the clamping jaw 210; the jaws 210 may rotate about the central axis of the robot arm 200; the clamping jaws 210 are used for clamping fruits;

four mesh bags 300, the four mesh bags 300 are all the same in size and shape; a mesh bag 300 is arranged between every two adjacent rotors 110, and the mesh bags 300 are uniformly distributed around the center of the unmanned aerial vehicle 100; the mesh bag 300 is vertically through, and the bottom opening is provided with an electromagnetic switch 310, and the electromagnetic switch 310 is used for controlling the opening and closing of the bottom opening of the mesh bag 300.

This embodiment replaces the AGV on the traditional picking robot with unmanned aerial vehicle 100, and thereby unmanned aerial vehicle 100 carries arm 200 to lift off and makes arm 200 can be close to the top of fruit tree and realize the harvesting to the top fruit.

Force sensors can feed back acting force between the clamping jaws 210 and fruits, for example, the clamping jaws 210 are four-finger clamping jaws, one side of each finger close to the fruits is provided with one force sensor, when a control system receives 4 force feedback signals with the same numerical value, the clamping jaws 210 are considered to successfully clamp the fruits, the mechanical arm is controlled to pick the fruits from the fruit trees and then place the fruits on mesh bags 300, in the embodiment, 4 mesh bags 300 are uniformly distributed around the center of the unmanned aerial vehicle 100, compared with the existing unmanned aerial vehicle with mesh bags arranged at the bottom, the picking robot in the embodiment can accommodate more fruits, and the reciprocating times of loading and unloading in the picking process can be reduced; meanwhile, the existing unmanned aerial vehicle with mesh bags arranged at the bottom generally can set the mechanical arm together at the bottom to smoothly put picked fruits into the mesh bags without being blocked by the rotor, however, the mechanical arm and the mesh bags are simultaneously arranged at the bottom when the fruits are actually picked, the mesh bags can seriously limit the motion space of the mechanical arm, and simultaneously, the risk of collision between the mechanical arm and the mesh bags can be increased (for example, when the fruits are picked from fruit trees, the fruits are separated from the fruit trees in the moment, the mechanical arm is easily collided with the mesh bags under the action of inertia), and the mesh bags 300 in the embodiment can not limit the motion space of the mechanical arm 200, thereby being beneficial to reducing the collision risk, meanwhile, 4 mesh bags 300 are uniformly distributed, and the stable flight of the unmanned aerial vehicle 100 in the picking process can be ensured.

It should be noted that a driving motor may be disposed on the robot arm 200 to drive the clamping jaw 210 to rotate.

Further, the bottom of the mesh bag 300 is provided with the electromagnetic switch 310, and the electromagnetic switch 310 is opened and closed by controlling the on-off of current, so that the fruit can be unloaded quickly and conveniently without manually disassembling the mesh bag 300 to collect the fruit, and the picking efficiency is greatly improved.

In certain embodiments, the fruit picking robot is further provided with weight sensors for monitoring the carrying weight of the four mesh bags 300.

Through the bearing weight of each pocket 300 of real-time supervision, ensure weight evenly distributed, be favorable to avoiding the picking robot to topple.

In some embodiments, a weight sensor may be provided for each mesh bag individually.

In some embodiments, a picking method is applied to a control system of a picking robot, and comprises the following steps:

s1, acquiring position information of a target fruit;

s3, controlling the mechanical arm 200 to grab the target fruit and putting the target fruit into the mesh bag 300;

In this embodiment, the target fruit can be identified and positioned by arranging a binocular camera at the end of the mechanical arm 200, so as to obtain the position of the target fruit, when the mechanical arm 200 grabs the target fruit, the mechanical arm 200 is controlled to take the fruit off the fruit tree and temporarily place the fruit in any mesh bag 300, and after all the mesh bags 300 are fully loaded, the unmanned aerial vehicle is controlled to return to the ground to unload the fruit.

In the embodiment, the designated position where the picking robot is lifted off refers to a position where the robot arm 200 can smoothly grasp a target fruit, and when the picking robot is under the designated position, the target fruit can be grasped by the robot arm 200 within the stroke range of the robot arm 200.

In certain embodiments, the specific steps in step S3 include:

s31, force feedback information of the force sensor is obtained;

s32, judging whether a target fruit is grabbed or not according to the force feedback information;

s33, controlling the unmanned aerial vehicle 100 to descend and controlling the clamping jaw 210 to rotate when the mechanical arm 200 grabs the target fruit so as to enable the target fruit to be stressed and separated from the fruit tree;

s34, acquiring force change information of the force sensor;

In this embodiment, judge through the information of force sensor feedback whether the clamping jaw correctly grabs the target fruit, after the target fruit is correctly grabbed to mechanical arm 200, unmanned aerial vehicle 100 then flies toward the direction that descends, and the target fruit is held by mechanical arm 200 this moment, and the mechanical arm produces traction force and the torsion that clamping jaw 210 rotated and provide along with unmanned aerial vehicle 100's decline, finally makes the target fruit be taken from the fruit tree. Because the acting force of the mechanical arm 200 for clamping the target fruit suddenly changes at the moment of separating the fruit from the fruit tree, whether the fruit is successfully separated from the fruit tree can be judged according to the force change information.

For example, the clamping jaw 210 successfully clamps the target fruit, the acting force is a value of a, when the mechanical arm 200 pulls the target fruit, the acting force is increased to a value of b, at the moment of separating the fruit from the fruit tree, the acting force is changed from the value of b to a value of c, and the acting force is finally changed to a value of a again after the picking robot is stabilized.

In some embodiments, the specific steps in step S3 include:

and S36, controlling the mechanical arm 200 to carry the target fruits to be placed in the corresponding mesh bags 300 according to a preset placing sequence.

In one embodiment, based on the position distribution of the 4 mesh bags 300, the robot arm 200 is controlled to sequentially place the picked fruits on the corresponding mesh bags 300 in a clockwise or counterclockwise order, for example, the preset placing order is mesh bag a → mesh bag b → mesh bag c → mesh bag d (the distribution of the 4 mesh bags 300 is a square, wherein mesh bag a is arranged diagonally to mesh bag c, and mesh bag b is arranged diagonally to mesh bag d), and during the picking process, the robot arm 200 is cyclically executed according to the order to place the target fruits in the 4 mesh bags 300 in turn until the 4 mesh bags 300 are all fully loaded.

In another embodiment, the preset placing sequence is net bag a → net bag c → net bag b → net bag d (the distribution of the 4 net bags 300 is square, wherein the net bag a and the net bag c are arranged diagonally, and the net bag b and the net bag d are arranged diagonally), during the picking process, the mechanical arm 200 is circularly executed according to the sequence to place the target fruits in the 4 net bags 300 in turn until the 4 net bags 300 are all fully loaded, and the placing sequence is more favorable for ensuring the balance of the whole picking robot (the fruit is placed diagonally, the balance of the diagonal positions of the picking robot can be kept), and the picking robot is prevented from overturning during the picking process.

It should be noted that when the robot arm 200 fails to pick a fruit (for example, the robot arm 200 fails to correctly pick a target fruit, or the robot arm 200 fails to successfully pick a target fruit from a fruit tree), the robot arm 200 may re-pick another target fruit, and place the fruit in the mesh bag 300 that was placed when the previous picking failed, for example, the fruit that was picked last should be placed in the mesh bag a, but the picking failed, and place the fruit in the mesh bag a when the robot arm 200 picks the next fruit.

In practical applications, the weight of each fruit is different, and if the fruits are placed in the mesh bags 300 according to the preset placing sequence, the mesh bags 300 may bear the same number of fruits but different bearing weights, and when the difference in bearing weights between the mesh bags 300 is too large, the picking robot may overturn.

In certain preferred embodiments, the specific steps in step S3 include:

s37, acquiring weight information of each mesh bag 300 through a weight sensor;

and S38, controlling the mechanical arm 200 to carry the target fruit to be placed in the mesh bag 300 with the minimum weight according to the weight information.

In the embodiment, the weight sensors are used for monitoring the bearing weight of each mesh bag 300 in real time, and the mechanical arm 200 picks fruits and preferably places the fruits in the mesh bag 300 with the minimum bearing weight in real time, so that the difference of the bearing weight among the mesh bags 300 is effectively ensured not to be too large.

In some embodiments, the specific steps in step S4 include:

s41, controlling the picking robot to move to a placing point on the ground;

s42, after the placement point is reached, controlling the electromagnetic switch 310 to be turned on so as to enable the target fruit to be unloaded from the mesh bag 300;

s43, after the target fruit is completely unloaded, controlling the electromagnetic switch 310 to be closed.

In this embodiment, picking robot bottom also can set up the camera and realize the discernment and the location to the ground point of placing to ensure that picking robot can accurately descend to the point of placing on ground, it can accurately unload on the point of placing to be favorable to the fruit when control electromagnetic switch 310 is opened. The picking robot of this embodiment can accomplish automatic uninstallation, has avoided the manual work to dismantle the process that the pocket 300 carried out the fruit and collected, and the human cost that has significantly reduced realizes simultaneously that a key of fruit unloads fast in the pocket 300 to and a key of pocket 300 seals fast, be favorable to reducing the dwell time at the point of placing, make the picking robot accomplish the uninstallation rapidly and make ready rapidly and return to the operation point again and continue the picking operation.

It should be noted that, a sensor may be disposed on each mesh bag 300 to monitor whether all the fruits are unloaded, for example, an infrared sensor is disposed to detect whether there are fruits at the bottom of the mesh bag 300; for another example, a gravity sensor is arranged to detect the bearing weight of the mesh bag 300; for example, a vision sensor is provided to acquire an image of each mesh bag 300, but not limited thereto.

Referring to fig. 4, fig. 4 is a picking device in some embodiments of the present application, a control system for the picking robot, the picking device being integrated in a back end control apparatus of the picking device in the form of a computer program, the picking device comprising:

an obtaining module 400, configured to obtain position information of a target fruit;

the first control module 500 is used for controlling the picking robot to ascend to a specified position according to the position information;

the second control module 600 is used for controlling the mechanical arm 200 to grab the target fruit and put the target fruit into the mesh bag 300;

a third control module 700 for controlling the picking robot to return to the ground for unloading the target fruit.

In some embodiments, the second control module 600 is configured to perform the following operations when controlling the robot arm 200 to grab the target fruit and put the fruit into the mesh bag 300:

s31, force feedback information of the force sensor is obtained;

s34, acquiring force change information of the force sensor;

In some embodiments, the second control module 600 is configured to perform, when controlling the robot 200 to grab the target fruit and place the target fruit into the mesh bag 300:

s37, acquiring weight information of each mesh bag 300 through a weight sensor;

In certain embodiments, the third control module 700 is configured to perform, when controlling the picking robot to return to the ground for unloading the target fruit:

s41, controlling the picking robot to move to a placing point on the ground;

s42, after reaching the placement point, controlling the electromagnetic switch 310 to be turned on so as to enable the target fruit to be unloaded from the mesh bag 300;

Referring to fig. 5, fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the present disclosure provides an electronic device including: the processor 1301 and the memory 1302, the processor 1301 and the memory 1302 being interconnected and communicating with each other via a communication bus 1303 and/or other form of connection mechanism (not shown), the memory 1302 storing a computer program executable by the processor 1301, the processor 1301 executing the computer program when the computing apparatus is running to perform the picking method in any of the alternative implementations of the embodiments of the second aspect described above to implement the following functions: acquiring position information of a target fruit; controlling the picking robot to ascend to a specified position according to the position information; controlling the mechanical arm 200 to grab the target fruit and putting the target fruit into the mesh bag 300; and controlling the picking robot to return to the ground to unload the target fruit.

An embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the picking method in any optional implementation manner of the embodiment of the second aspect is executed, so as to implement the following functions: acquiring position information of a target fruit; controlling the picking robot to ascend to a specified position according to the position information; controlling the mechanical arm 200 to grab the target fruit and putting the target fruit into the mesh bag 300; and controlling the picking robot to return to the ground to unload the target fruit.

The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.

In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A picking robot for picking fruits growing on trees, comprising a drone (100), said drone (100) having 4 rotors (110) evenly distributed around its central position, characterized in that it further comprises:

the mechanical arm (200) is vertically arranged at the center of the top of the unmanned aerial vehicle (100), and a clamping jaw (210) is arranged at one end, far away from the unmanned aerial vehicle (100), of the mechanical arm (200); a force sensor is arranged on the clamping jaw (210); the clamping jaw (210) can rotate around the central axis of the mechanical arm (200); the clamping jaw (210) is used for clamping fruits;

four mesh bags (300), wherein the four mesh bags (300) are identical in size and shape; the mesh bag (300) is arranged between every two adjacent rotors (110), and the mesh bags (300) are uniformly distributed around the center of the unmanned aerial vehicle (100); the mesh bag (300) is vertically communicated, an electromagnetic switch (310) is arranged at an opening at the bottom of the mesh bag, and the electromagnetic switch (310) is used for controlling the opening and closing of the opening at the bottom of the mesh bag (300).

2. A picking robot according to claim 1, characterised in that the fruit picking robot is further provided with weight sensors for monitoring the carrying weight of the four mesh bags (300).

3. A picking method applied to a control system of a picking robot as claimed in claim 1 or claim 2, characterised by the steps of:

s1, acquiring position information of a target fruit;

s3, controlling the mechanical arm (200) to grab the target fruit and putting the target fruit into the mesh bag (300);

4. The picking method according to claim 3, characterized in that the specific steps in step S3 include:

s31, force feedback information of the force sensor is obtained;

s33, controlling the unmanned aerial vehicle (100) to descend and controlling the clamping jaw (210) to rotate when the target fruit is grabbed by the mechanical arm (200), so that the target fruit is stressed to be picked off the fruit tree;

s34, acquiring force change information of the force sensor;

5. The picking method according to claim 3, characterized in that the specific steps in step S3 include:

s36, the mechanical arm (200) is controlled to carry the target fruits to be placed in the corresponding mesh bags (300) according to a preset placing sequence.

6. The picking method according to claim 3, characterized in that the specific steps in step S3 include:

s37, acquiring weight information of each mesh bag (300) through a weight sensor;

s38, controlling the mechanical arm (200) to carry the target fruit to be placed in a mesh bag (300) with the minimum weight according to the weight information.

7. The picking method of claim 3, wherein the specific steps in step S4 include:

s41, controlling the picking robot to move to a placing point on the ground;

s42, after the placement point is reached, controlling the electromagnetic switch (310) to be opened so as to enable the target fruit to be unloaded from the mesh bag (300);

s43, after the target fruit is completely unloaded, controlling the electromagnetic switch (310) to be closed.

8. A picking device applied to a control system of a picking robot as claimed in claim 1 or claim 2, characterised in that the picking device comprises:

a second control module for controlling the mechanical arm (200) to grab the target fruit and put the target fruit into the mesh bag (300);

9. An electronic device comprising a processor and a memory storing computer readable instructions which, when executed by the processor, carry out the steps of the picking method according to any of claims 3-7.

10. A storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, performs the steps of the picking method according to any of claims 3-7.