CN115336473A - Fruit picking equipment and control method thereof - Google Patents

Abstract

The application provides a fruit picking device and a control method thereof, wherein the fruit picking device comprises a movable bearing mechanism, a lifting mechanism, a mechanical arm, a picking mechanism, a telescopic conveying pipeline, a first sensing assembly and a control assembly. Through the control assembly based on the data control that first sensing assembly gathered removes the bearing mechanism and removes and control elevating system, the arm reaches picking mechanism works and picks target fruit, and through setting up but telescopic conveying pipeline can make under the picking fruit can follow by oneself under the action of gravity telescopic conveying pipeline carries to fruit receiving mechanism. Therefore, the picking operation of the high-altitude fruits can be accurately finished, and the picking efficiency can be effectively improved.

Description

Fruit picking equipment and control method thereof

Technical Field

The application relates to the technical field of agricultural intelligent equipment, in particular to fruit picking equipment and a control method of the fruit picking equipment.

Background

With the continuous development of mechanical digitization technology, various intelligent mechanical devices are beginning to be applied in the agricultural field. For example, for some fruits with higher growing positions, a picking robot is used in picking operation, so that the risk caused by manual high-altitude picking operation can be avoided. However, the fruit picking robot in the prior art picks the fruit by directly pulling down the fruit after the fruit is grabbed by the mechanical arm, which is easy to damage the handle end of the fruit, and the mechanical arm needs to perform the fruit placing action after the picking action is performed, resulting in low picking efficiency and easy error.

Disclosure of Invention

In order to overcome the above-mentioned deficiencies in the prior art, the present application aims to provide a fruit picking apparatus, comprising:

the mobile bearing mechanism is provided with a first driving assembly, and the first driving assembly is used for driving the mobile bearing mechanism to move on the ground;

the lifting mechanism is arranged on the movable bearing mechanism and can be lifted or lowered in the vertical direction relative to the movable bearing mechanism;

a robot arm including a first end fixed to the lifting mechanism and a second end movable in at least two directions relative to the first end;

a picking mechanism disposed at the second end, the picking mechanism for shearing off a stalk of a target fruit;

the telescopic conveying pipeline extends from the picking mechanism along the lifting mechanism in a downward spiral mode and is used for receiving and conveying target fruits with fruit stalks cut off by the picking mechanism;

a first sensing assembly comprising an image acquisition device and a radar device;

and the control assembly is used for controlling the movable bearing mechanism to move based on the data acquired by the first sensing assembly and controlling the lifting mechanism, the mechanical arm and the picking mechanism to work to pick target fruits.

In a possible implementation manner, the fruit picking equipment further comprises a fruit containing mechanism, and the fruit containing mechanism is driven by the movable bearing mechanism to move together; the fruit receiving mechanism is used for receiving picked target fruits, and the telescopic conveying pipeline extends from the picking mechanism to the fruit receiving mechanism.

In one possible implementation, the fruit containing mechanism includes a plurality of stacked containing boxes, each containing box includes a fruit inlet, the retractable conveying pipe is connected with the inlet selecting component, and the inlet selecting component is used for selecting the retractable conveying pipe to be connected with the fruit inlet of one of the containing boxes so as to convey the picked target fruit to one of the containing boxes.

In one possible implementation, the picker mechanism includes a receptacle, a shear, and a second sensing assembly; the telescopic conveying pipeline is connected with the accommodating part;

the control assembly is in communication with the second sensing assembly and the cutting portion, and is further configured to control the cutting portion to cut off the stem of the target fruit after the target fruit is determined to have entered the receptacle by the second sensing assembly.

In a possible implementation manner, the cutting part includes scissors and a third driving assembly, two tool shanks of the scissors are respectively connected with the third driving assembly, and the third driving assembly drives the tool shanks to control the opening or closing of the cutting edges of the scissors through rotation.

In one possible implementation, the opposite sides of the two cutting edges of the scissors are provided with arc-shaped grooves, and the arc-shaped grooves are used for guiding the stems of the target fruits entering the accommodating part to be kept in the cutting range of the cutting edges.

In one possible implementation, the lifting mechanism includes a fixed part and a lifting part;

the fixing part is fixed on the movable bearing mechanism and comprises a second driving component and a screw rod extending along the vertical direction, and the second driving component is used for driving the screw rod to rotate along the first direction or the second direction;

the lifting part is movably connected with the fixing part through a guide rail, and the lifting part can ascend or descend relative to the fixing part along the guide rail; the mechanical arm is arranged on the lifting part;

the lifting part is in threaded connection with the screw rod, and the screw rod drives the lifting part to ascend or descend relative to the fixing part when rotating.

Another object of the present application is to provide a fruit picking apparatus control method for controlling the fruit picking apparatus provided by the present application, the fruit picking apparatus control method comprising:

acquiring a first image of a region to be picked through the first sensing assembly;

determining a target picking position according to the first image, and controlling the fruit picking equipment to move to the target picking position;

acquiring a second image of the target picking position by the first sensing assembly;

and determining the position of each target fruit on the target picking position according to the second image, and controlling the lifting mechanism and the mechanical arm to pick the target fruits in sequence.

In one possible implementation, the step of determining a target picking position from the first image and controlling the fruit-picking apparatus to move to the target picking position comprises:

determining the position of each target fruit according to the first image;

determining a target picking position and a target picking height according to the positions of the target fruits by using a badger algorithm;

controlling the fruit picking apparatus to move to the target picking position and to raise or lower to the target picking height;

the step of determining the position of each target fruit on the target picking position according to the second image and controlling the lifting mechanism and the mechanical arm to pick the target fruits in sequence comprises the following steps:

determining the position of each target fruit on the target picking position according to the second image through a YOLOv6 algorithm;

and determining a picking path through a byttrack algorithm according to the positions of the expressed target fruits, and picking the target fruits in sequence according to the picking path.

In one possible implementation, the step of controlling the lifting mechanism and the mechanical arm to pick the target fruit in sequence comprises:

for each target fruit, controlling the lifting mechanism and the mechanical arm to move so that the target fruit is positioned in the picking mechanism;

and controlling the picking mechanism to shear the fruit stem of the target fruit, so that the target fruit is conveyed to the fruit accommodating mechanism along the telescopic conveying pipeline under the action of gravity.

Compared with the prior art, the method has the following beneficial effects:

the application provides a fruit picking equipment and fruit picking equipment control method, through control component is based on the data control that first sensing component gathered remove bearing mechanism and control elevating system, the arm reaches picking mechanism work picks target fruit, and through setting up scalable pipeline can make under the picking fruit can follow by oneself under the action of gravity scalable pipeline carries to fruit receiving mechanism. Therefore, the picking operation of the high-altitude fruits can be accurately finished, and the picking efficiency can be effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is one of schematic structural diagrams of a fruit picking apparatus provided in an embodiment of the present application;

fig. 2 is a schematic diagram of a circuit module of a fruit picking apparatus according to an embodiment of the present disclosure;

fig. 3 is a second schematic structural view of a fruit picking apparatus according to an embodiment of the present application;

fig. 4 is a schematic view of a fruit storage mechanism according to an embodiment of the present disclosure;

fig. 5 is a second schematic view of a fruit storage mechanism provided in an embodiment of the present application;

fig. 6 is a second schematic structural view of a fruit picking apparatus according to an embodiment of the present application;

FIG. 7 is a schematic view of a robotic arm and picking mechanism provided in embodiments of the present application;

fig. 8 is a second schematic diagram of a circuit module of a fruit picking apparatus according to an embodiment of the present application;

FIG. 9 is a schematic view of a lift mechanism provided in an embodiment of the present application;

fig. 10 is a schematic view of a picker mechanism provided in an embodiment of the present application;

FIG. 11 is a schematic view of a shear provided in an embodiment of the present application;

fig. 12 is a schematic flow chart of a control method of a fruit picking apparatus according to an embodiment of the present application;

fig. 13 is a schematic flow chart of determining the optimal picking position and optimal picking height by HBA algorithm according to the present application;

fig. 14 is a schematic flow chart of a work flow of the fruit picking equipment for picking fruit provided by the embodiment of the application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to 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.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the present invention is conventionally placed in use, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish one element from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "suspended", and the like do not imply that the components are required to be absolutely horizontal or suspended, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements can be directly connected or indirectly connected through an intermediate medium, and the two elements can be communicated with each other. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a fruit picking apparatus according to the present embodiment, which may include a movable carrying mechanism 100, a lifting mechanism 200, a mechanical arm 300, a picking mechanism 400, and a retractable conveying pipe 500.

The moving and carrying mechanism 100 is provided with a first driving assembly, and the first driving assembly is used for driving the moving and carrying mechanism 100 to move on the ground. For example, the first drive assembly may include tires or tracks that can travel over the ground.

Further, the mobile carrying mechanism 100 may further be provided with an image capturing component or a radar component for detecting the traveling route, and other components not shown in fig. 1, such as a replaceable battery for storing electric energy.

The lifting mechanism 200 is disposed on the movable carrying mechanism 100, and the lifting mechanism 200 can be lifted or lowered in a vertical direction relative to the movable carrying mechanism 100.

The robot arm 300 includes a first end portion fixed to the lifting mechanism 200 and a second end portion movable in at least two directions with respect to the first end portion.

Through the cooperation of the lifting mechanism 200 and the mechanical arm 300, the second end of the mechanical arm 300 can move in the horizontal and vertical directions, so as to extend to the target fruit to be picked.

The picking mechanism 400 is disposed at the second end of the robotic arm 300, and the picking mechanism 400 is configured to cut off a stem of the target fruit. In this embodiment, the fruit picking apparatus may be used for picking fruit having a stem of a certain length, for example, may be used for picking fruit such as oranges, apples, pears, etc.

The retractable conveying pipe 500 extends from the picking mechanism 400 and spirals downwards along the lifting mechanism 200, and the retractable conveying pipe 500 is used for receiving and conveying target fruits with fruit stalks cut off by the picking mechanism 400. Specifically, in this embodiment, one end of the retractable conveying pipe 500 is connected to the picking mechanism 400 and can move together with the picking mechanism 400, and the other end of the retractable conveying pipe 500 can be connected to a lower container, so that the target fruit with the stem cut by the picking mechanism 400 can enter the retractable conveying pipe 500 and then roll down along the retractable conveying pipe 500 under the action of gravity to spiral and fall into the container.

Thus, by arranging the retractable conveying pipeline 500, the picking mechanism 400 and the mechanical arm 300 only need to execute picking actions, and do not need to execute fruit placing actions, so that the picking efficiency is improved. And, through setting up to spiral the extension scalable pipeline 500, can reduce the target fruit and be in the impact force that rolls in scalable pipeline 500 avoids the target fruit to damage.

Specifically, in this embodiment, the retractable conveying pipe 500 may be a transparent band elastic plastic corrugated compensator, and a steel ring may be disposed at a certain distance in the retractable conveying pipe 500, so that the retractable conveying pipe will not be folded naturally to affect the conveying of fruits.

Referring to fig. 2, fig. 2 is a schematic diagram of a circuit function module of the fruit picking apparatus provided in this embodiment, and the fruit picking apparatus may further include a first sensing assembly 600 and a control assembly 800.

The first sensing assembly 600 includes an image acquisition device and a radar device. Referring again to fig. 1, in one possible implementation, the first sensing assembly 600 may be disposed on the lifting mechanism 200 together with the robot arm 300. Wherein, the image acquisition device can comprise a binocular camera.

The control assembly 800 may be in communication with the mobile carriage 100, the lift mechanism 200, the robotic arm 300, the picking mechanism 400, and the first sensing assembly 600, respectively. The control assembly 800 can be used for controlling the movement of the movable carrying mechanism 100 and controlling the lifting mechanism 200, the mechanical arm 300 and the picking mechanism 400 to operate for picking the target fruit based on the data collected by the first sensing assembly 600.

Specifically, in one example, the control assembly 800 may perform data processing locally according to the data collected by the first sensing assembly 600, and then control the mobile carrying mechanism 100 to move relatively independently and control the lifting mechanism 200, the robot arm 300 and the picking mechanism 400 to operate to pick the target fruit. In another example, the control assembly 800 may send the data collected by the first sensing assembly 600 to other devices (e.g., a cloud server, a remote data processing device, etc.), then receive a control command generated by the other devices according to the data collected by the first sensing assembly 600, and then control the movable carrying mechanism 100 to move and control the lifting mechanism 200, the mechanical arm 300, and the picking mechanism 400 to operate to pick target fruits according to the control command.

Referring to fig. 3, in a possible implementation manner, the fruit picking apparatus further includes a fruit receiving mechanism 900, and the fruit receiving mechanism 900 is moved together by the moving carrier 100. The fruit receiving mechanism 900 is used to receive the target fruit to be picked, and the retractable conveying pipe 500 extends from the picking mechanism 400 to the fruit receiving mechanism 900.

For example, referring to fig. 4, the fruit receiving mechanism 900 may include a receiving box 910, the receiving box 910 is provided with a fruit inlet 911, one end of the retractable conveying pipe 500 far away from the picking mechanism 400 may be connected to the fruit inlet 911, so that the target fruit entering the retractable conveying pipe 500 can roll down into the receiving box 910 through the fruit inlet 911. The fruit containing mechanism 900 may further include a hinge 901 and a roller 902, the roller 902 enables the fruit containing mechanism 900 to travel on the ground, the hinge 901 may be hinged to the movable carrying mechanism 100, so that the fruit containing mechanism 900 may be moved by the movable carrying mechanism 100.

Further, referring to fig. 5, in a possible implementation manner, the fruit containing mechanism 900 may include a plurality of containing boxes 910 stacked one above another and an inlet selecting assembly 920, each containing box 910 includes a fruit inlet 911, the retractable conveying pipe 500 is connected to the inlet selecting assembly 920, and the inlet selecting assembly 920 is configured to select the connection between the retractable conveying pipe 500 and the fruit inlet 911 of one of the containing boxes 910 so as to convey the picked target fruit to one of the containing boxes 910.

For example, the inlet selector 920 may slide between the fruit inlets 911 of a plurality of the containers 910, so as to select the retractable conveying pipe 500 to communicate with one of the containers 910. Referring to fig. 6, since the flexible transportation pipe 500 is wound around the lifting mechanism 200, the flexible transportation pipe 500 can move or stretch together with the inlet selection assembly 920, so as to connect to the fruit inlet 911 of one of the containers 910.

Optionally, the inlet selector 920 may also be connected to the control assembly 800, and the control assembly 800 controls the movement of the inlet selector 920 according to the number of target fruits picked.

Based on the above design, through the cooperation of the picking mechanism, the retractable conveying pipeline 500 and the inlet selection component 920, the picking mechanism 400 and the mechanical arm 300 can be stacked in layers only by executing picking actions without executing fruit placing actions, so that the picking efficiency of target fruits can be effectively improved.

In one possible implementation, referring to fig. 7, picking mechanism 400 includes a housing 410, a shearing portion 420, and a second sensing assembly 430. The retractable conveying pipe 500 is connected to the receiving portion 410, the receiving portion 410 is used for temporarily receiving a target fruit to be picked, and the receiving portion 410 may be funnel-shaped, so that the robot arm 300 can conveniently sleeve the target fruit into the receiving portion 410.

Referring to fig. 8, the control assembly 800 is communicatively connected to the second sensing assembly 430 and the cutting portion 420, and the control assembly 800 is further configured to control the cutting portion 420 to cut off the stem of the target fruit after the target fruit is determined to enter the receiving portion 410 by the second sensing assembly 430.

In this embodiment, the second sensing assembly 430 can include at least two sensors, one of which can be located at an opening of the receptacle 410 for detecting whether a target fruit enters the receptacle 410 and another of which can be located at the bottom of the receptacle 410 for detecting whether the target fruit reaches the bottom of the receptacle 410. When both of the sensors detect the target fruit, the control assembly 800 can control the cutting part 420 to operate, so as to ensure that the cutting part 420 can cut the stem of the target fruit without damaging the fruit body of the target fruit.

In one possible implementation manner, referring to fig. 9, the lifting mechanism 200 includes a fixing portion 210 and a lifting portion 220.

The fixing portion 210 is fixed on the movable supporting mechanism 100. Further, in one example, in order to pick up the fruit at a higher position, the fixing portion 210 may be fixed on the movable carrier 100 by a plurality of supporting columns 211 to increase the height of the fixing portion 210.

The fixing portion 210 includes a second driving assembly 212 and a screw rod 213 extending along a vertical direction, and the second driving assembly 212 is configured to drive the screw rod 213 to rotate along a first direction or a second direction. For example, the second driving member 212 is fixed to a central position of the fixing portion 210 by a screw, and the second driving member 212 may be an electrode having a central axis connected to the lead screw 213.

The lifting unit 220 is movably connected to the fixing unit 210 by a guide rail 221, and the lifting unit 220 can be lifted or lowered with respect to the fixing unit 210 along the guide rail 221. For example, the guide rail 221 is disposed on a side of the elevating part 220 facing the fixing part 210 and extends in a vertical direction, and the fixing part 210 is provided with a through hole having a linear bearing. The guide rail 221 passes through the through hole and can slide up and down along the through hole, so that the elevating part 220 can ascend or descend along the guide rail 221 with respect to the fixing part 210.

The lifting part 220 is screwed with the screw rod 213, and the screw rod 213 drives the lifting part 220 to ascend or descend relative to the fixing part 210 when rotating. The robot arm 300 is disposed on the elevating portion 220. In addition, the first sensing member 600 may be disposed on the elevating part 220.

In this way, the control unit 800 controls the elevating unit 220 to ascend or descend with respect to the fixing unit 210 by controlling the second driving unit 212 to rotate forward or backward, thereby driving the robot 300 disposed on the elevating unit 220 to ascend or descend.

In addition, a screw rod protecting cover 214 can be further arranged on the screw rod 213, and the screw rod protecting cover 214 is fixed on a positioning seat at the tail end of the screw rod 213 and used for protecting the screw rod from dust pollution.

The fixing portion 210 may further include a damper 215 on a side facing the elevating portion 220, wherein the damper 215 is configured to prevent the elevating portion 220 from being lowered to the lowest position to rigidly collide with the fixing portion 210. The material of the damper 215 may be rubber.

A flexible wiring sleeve 216 for protecting wiring can be further arranged between the fixing portion 210 and the lifting portion 220, so that various wires can be protected from being damaged in the lifting process.

The guide rail 221 may further include a guide shaft fixing ring 222, the guide shaft fixing ring 222 may adjust a lifting height, and the guide shaft fixing ring 222 may be provided with a shock-absorbing ring to prevent the guide shaft fixing ring 222 from rigidly colliding with the fixing portion 210 when the lifting portion 220 is lifted to a highest position.

In a possible implementation manner, referring to fig. 10, the cutting portion 420 includes scissors 421 and a third driving assembly 422, two tool shanks of the scissors 421 are respectively connected to the third driving assembly 422, and the third driving assembly 422 drives the tool shanks by rotation to control opening or closing of the cutting edges of the scissors 421. In this way, the control assembly 800 can control the scissors 421 to cut the stem of the target fruit by controlling the third driving assembly 422 to rotate forward or backward.

Further, referring to fig. 11, the scissors 421 have arc grooves 423 on the opposite sides of the two cutting edges, and the arc grooves are used for guiding the stem of the target fruit entering the container 410 to be kept within the cutting range of the cutting edges.

In addition, the present embodiment also provides a control method of a fruit picking apparatus, where the control method of the fruit picking apparatus is used to control the fruit picking apparatus provided in the present embodiment, and the control method of the fruit picking apparatus may include the following steps.

Step S110, a first image of the area to be picked is acquired by the first sensing assembly 600.

In this embodiment, the first image may be acquired by an image acquisition device in the first sensing assembly 600.

And S120, determining a target picking position according to the first image, and controlling the fruit picking equipment to move to the target picking position.

In this embodiment, the first image may be subjected to image recognition to determine the position of each target fruit. For example, the first image may be an image captured by a binocular camera, and the position of each target fruit may be determined by performing image recognition and binocular image positioning on the first image. A target picking position is then determined based on the position of the target fruit according to a preset algorithm, and then the fruit equipment is controlled to move to the target picking position.

Step S130, a second image of the target picking position is acquired by the first sensing assembly 600.

In this embodiment, after reaching the target picking position, the second image may be obtained by performing image acquisition again on the target picking position.

Step S140, determining the position of each target fruit at the target picking position according to the second image, and controlling the lifting mechanism 200 and the mechanical arm 300 to pick the target fruit in sequence.

In this embodiment, the second image may be subjected to image recognition to determine the position of each target fruit. For example, the second image may be an image captured by a binocular camera, and the position of each target fruit may be determined by performing image recognition and binocular image positioning on the second image. Then, a target picking position is determined based on the position of the target fruit according to a preset algorithm, and then the lifting mechanism 200 and the mechanical arm 300 are controlled to pick the target fruit in sequence.

Specifically, the movement of the lifting mechanism 200 and the robotic arm 300 may be controlled for each of the target fruits such that the target fruits are located in the receptacle 410. Then, the cutting part 420 is controlled to cut the stem of the target fruit, so that the target fruit is conveyed to the fruit accommodating mechanism 900 along the retractable conveying pipe 500 under the action of gravity.

In one possible implementation, step S120 may include the following substeps.

And step S121, determining the position of each target fruit according to the first image.

In this embodiment, whether target fruits exist in the current range or not can be determined through image recognition, and if the target fruits which need to be collected exist, the positions of the target fruits can be determined.

And S122, determining a target picking position and a target picking height according to the positions of the target fruits by using a badger algorithm.

In this embodiment, a Honeybee Badger Algorithm (HBA) may be adopted to simulate a behavior of a honeybee for foraging search to adaptively determine and adjust a target picking position and a target picking height of the fruit collection device according to a position of each target fruit, so that the fruit collection device is located at an optimal picking position and an optimal picking height.

In this embodiment, a general HBA algorithm may be adopted, and the following formula is adopted as a fitness function (i.e., an evaluation index) of the HBA algorithm.

Wherein, fitness _X And fitness _Y As a fitness function for said target picking position, fitness _Z Is a fitness function for the target plucking height. X _robot The current X-axis coordinate position of the fruit picking equipment is determined; y is _rrobot The current Y-axis coordinate position of the fruit picking equipment is obtained; z _robot The current Z-axis coordinate position of the lifting platform of the fruit picking equipment is determined; x _i The coordinate position of the current X axis of the ith target fruit is taken as the coordinate position of the current X axis of the ith target fruit; y is _i The coordinate position of the current Y axis of the ith target fruit is taken as the coordinate position of the current Y axis of the ith target fruit; z is a linear or branched member _i Is the Z-axis coordinate position where the ith target fruit is currently located. By calculating the average distance between the fruit picking equipment and each target fruit as a fitness function, the smaller the average distance is, the better the position selected by the fruit picking equipment is.

Specifically, referring to fig. 13, the process of determining the optimal picking position and optimal picking height using the HBA algorithm may be as shown in fig. 13. Initializing HBA parameters, setting a threshold range of a target picking position A and a target picking height B, and adjusting the position and the height of the fruit picking equipment.

And then calculating the fitness of each picking position and picking height to obtain an objective function of the HBA, and judging whether the optimization criterion of the HBA algorithm is met.

And if so, updating the optimal offspring and the fitness value, and then carrying out next optimization detection.

If not, directly executing next optimization detection.

And storing the optimal picking position and the optimal picking height until the times i of the optimal detection reach a preset threshold value L. For example, L may be 100.

And S123, controlling the fruit picking equipment to move to the target picking position and to ascend or descend to the target picking height.

In this embodiment, the control assembly 800 can control the mobile carrier assembly to move to the target picking position and then control the lifting assembly to ascend or descend to the target picking height.

Step S140 may include the following substeps.

And step S141, determining the position of each target fruit on the target picking position according to the second image through a YOLOv6 algorithm.

In this embodiment, the second image may be an image captured by a binocular camera, where for the two images, a YOLOv6 algorithm may be respectively adopted to perform target detection, and a target feature point of a two-dimensional coordinate of each target fruit on the image is determined.

Then, the imaging deviation of the target characteristic point on the two images is calculated through a stereo matching pair triangulation principle so as to obtain the depth information of the characteristic point. The depth information can reflect the distance between the characteristic point and the optical center of the left camera along the Z1 axis direction, so that the three-dimensional space coordinate is calculated.

For example, the imaging positions of the target feature point corresponding to a certain target fruit on 2 images are a1 (x 1, y 1), ar (xr, yr), respectively; and O1 and Or are respectively the optical centers of the left camera and the right camera, a three-dimensional coordinate system XC-YC-ZC is established by taking the optical center of the left camera as an original point, and the three-dimensional coordinate system XC-YC-ZC can be obtained according to the theorem of similar triangles:

wherein f is the focal length of the camera, and b is the distance between the optical centers O1 and Or and is parallel to each other.

According to a formula, the coordinate of the target fruit on the plane is determined, and the corresponding three-dimensional space coordinate can be obtained.

After determining the location of each of the target fruits, the M picking zones may be divided according to the degree of aggregation at the target fruit location.

Then, the current position of the mechanical arm 300 is used as a reference point of the picking action, and the picking times N of the current area are determined.

And S142, determining a picking path through a byttrack algorithm according to the positions of the expressed target fruits, and picking the target fruits in sequence according to the picking path.

In this embodiment, target tracking may be implemented by using bytrack algorithm, and the picking sequence (path) of this time is planned with the minimum straight-line distance from the reference point as an evaluation criterion, so as to determine the picking sequence.

And picking the target fruit in the current picking area according to the picking path. After picking operation of the current picking area is completed, the fruit picking equipment is controlled to move to the next picking area. And circulating the steps until all the target fruits in the detection range are picked.

Specifically, in one possible implementation, referring to fig. 14, a specific flow of the fruit picking device performing fruit picking may be as shown in fig. 14.

The fruit picking equipment is initialized firstly, and the target is scanned through the binocular camera and the radar.

And then judging whether picking is carried out according to whether target fruits capable of carrying out picking exist in the scanning range.

If yes, target detection is carried out through a YOLOv6 algorithm.

And then determining a target picking position A and a target picking height B through an HBA algorithm, controlling the movable carrying mechanism 100 to move, and adjusting the height of the lifting mechanism 200.

And then acquiring the coordinates of each target fruit through a camera 1 and a camera 2 in the binocular camera, and constructing a three-dimensional coordinate system to calculate the three-dimensional coordinates of each target fruit.

And dividing and marking M picking areas according to the three-dimensional coordinates of each target fruit.

Then, taking the current position and height of the fruit picking equipment as reference points, carrying out target tracking through a ByteTrack algorithm, and taking the minimum straight-line distance from the reference points as an evaluation criterion to determine a picking sequence (path).

The robotic arm 300 is then controlled to move against the target fruit currently in need of picking. During the movement, after the target is detected by the sensor 1 and the sensor 2 in the second sensing assembly 430 on the picking assembly 400, the cutting part 420 is controlled to perform the operation of cutting the fruit handle. The cut target fruit enters the fruit receiving mechanism 900 along the retractable tube 500.

It is then determined whether the number of picks for the current zone has reached the maximum value N for the target fruit for the current zone based on the count value of the second sensor assembly 430.

If not, continuing to carry out target tracking based on the ByteTrack algorithm to pick the next target fruit in the current picking area.

If yes, detecting whether the number of picked areas reaches M;

if yes, the picking operation is ended.

If not, the movable bearing mechanism 100 is controlled to move and the lifting mechanism is controlled to adjust the height so as to move to the next picking area. And the target picking position A and the target picking height B are adaptively adjusted again through an HBA algorithm.

After the new target picking position A and the new target picking height B are reached, target tracking is performed again through the ByteTrack algorithm based on the current target picking position A and the current target picking height B as new reference points, and a picking sequence (path) is determined. And picking the new picking area.

Until picking of all target fruits in all picking zones is completed.

To sum up, this application provides a fruit picking equipment and fruit picking equipment control method, through the control assembly is based on the data control that first sensing component gathered remove and bear the weight of the mechanism and remove and control elevating system the arm reaches picking mechanism work is picked target fruit, and through setting up but scalable pipeline can make under the picking fruit can follow by oneself under the action of gravity scalable pipeline carries to fruit receiving mechanism. So, can accomplish the picking operation of high altitude fruit accurately to can effectively improve picking efficiency.

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

It should be noted that, in this document, relational terms such as first and second, and the like are 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A fruit picking apparatus, comprising:

the mobile bearing mechanism is provided with a first driving assembly, and the first driving assembly is used for driving the mobile bearing mechanism to move on the ground;

the lifting mechanism is arranged on the movable bearing mechanism and can be lifted or lowered in the vertical direction relative to the movable bearing mechanism;

a robot arm including a first end fixed to the lifting mechanism and a second end movable in at least two directions relative to the first end;

a picking mechanism disposed at the second end, the picking mechanism for shearing off stalks of the target fruit;

the telescopic conveying pipeline extends downwards along the lifting mechanism from the picking mechanism in a spiral mode and is used for receiving and conveying target fruits with fruit stalks cut off by the picking mechanism;

a first sensing assembly comprising an image acquisition device and a radar device;

the control assembly is used for controlling the moving bearing mechanism to move and controlling the lifting mechanism, the mechanical arm and the picking mechanism to work to pick target fruits based on the data collected by the first sensing assembly.

2. The fruit picking apparatus of claim 1, further comprising a fruit receiving mechanism that is moved together by the moving carrier mechanism; the fruit receiving mechanism is used for receiving picked target fruits, and the telescopic conveying pipeline extends from the picking mechanism to the fruit receiving mechanism.

3. The fruit picking apparatus of claim 2, wherein the fruit receiving mechanism comprises a plurality of stacked receiving bins, each of the receiving bins including a fruit inlet, the retractable transport tube being connected to the inlet selection assembly, and an inlet selection assembly for selecting the retractable transport tube to connect with the fruit inlet of one of the receiving bins for transporting the target fruit under picking to one of the receiving bins.

4. The fruit picking apparatus of claim 1, wherein the picking mechanism includes a receiving portion, a shearing portion, and a second sensing assembly; the telescopic conveying pipeline is connected with the accommodating part;

the control assembly is in communication with the second sensing assembly and the shearing portion, and the control assembly is further configured to control the shearing portion to sever the stalks of the target fruit after the target fruit is determined to have entered the receptacle by the second sensing assembly.

5. The fruit picking apparatus according to claim 4, wherein the cutting part comprises scissors and a third driving assembly, two handles of the scissors are respectively connected with the third driving assembly, and the third driving assembly drives the handles to control the opening or closing of the blades of the scissors through rotation.

6. The fruit picking apparatus of claim 5, wherein the scissors are provided with an arc-shaped groove on the side opposite to the two blades, the arc-shaped groove being used for guiding the stem of the target fruit entering the containing part to be kept within the cutting range of the blades.

7. The fruit picking apparatus of claim 1, wherein the lifting mechanism comprises a fixed portion and a lifting portion;

the fixed part is fixed on the movable bearing mechanism and comprises a second driving component and a screw rod extending along the vertical direction, and the second driving component is used for driving the screw rod to rotate along the first direction or the second direction;

the lifting part is movably connected with the fixing part through a guide rail, and the lifting part can ascend or descend relative to the fixing part along the guide rail; the mechanical arm is arranged on the lifting part;

the lifting part is in threaded connection with the screw rod, and the screw rod drives the lifting part to ascend or descend relative to the fixing part when rotating.

8. A fruit picking apparatus control method for controlling a fruit picking apparatus according to any one of claims 1 to 7, the fruit picking apparatus control method comprising:

acquiring a first image of a region to be picked through the first sensing assembly;

determining a target picking position according to the first image, and controlling the fruit picking equipment to move to the target picking position;

acquiring a second image of the target picking position by the first sensing assembly;

and determining the position of each target fruit on the target picking position according to the second image, and controlling the lifting mechanism and the mechanical arm to pick the target fruits in sequence.

9. The fruit picking apparatus control method according to claim 8,

the step of determining a target picking position from the first image and controlling the fruit picking apparatus to move to the target picking position comprises:

determining the position of each target fruit according to the first image;

determining a target picking position and a target picking height according to the positions of the target fruits by using a badger algorithm;

controlling the fruit picking apparatus to move to the target picking position and to ascend or descend to the target picking height;

the step of determining the position of each target fruit on the target picking position according to the second image and controlling the lifting mechanism and the mechanical arm to pick the target fruits in sequence comprises the following steps:

determining the position of each target fruit on the target picking position according to the second image through a YOLOv6 algorithm;

and determining a picking path through a byttrack algorithm according to the positions of the expressed target fruits, and picking the target fruits in sequence according to the picking path.

10. The fruit picking apparatus control method of claim 9, wherein the step of controlling the lifting mechanism and the robotic arm to sequentially pick the target fruit comprises:

for each target fruit, controlling the lifting mechanism and the mechanical arm to move so that the target fruit is positioned in the picking mechanism;

and controlling the picking mechanism to shear the fruit stem of the target fruit, so that the target fruit is conveyed to the fruit accommodating mechanism along the telescopic conveying pipeline under the action of gravity.

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