CN216650544U

CN216650544U - Picking robot

Info

Publication number: CN216650544U
Application number: CN202122411102.0U
Authority: CN
Inventors: 施家栋; 张勇; 杨河; 樊铮; 李广; 熊维; 常孟芝; 刘自源; 苟铭浩
Original assignee: Alibaba Cloud Computing Ltd
Current assignee: Alibaba Cloud Computing Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-06-03
Anticipated expiration: 2031-09-30

Abstract

This specification provides a picking robot, includes: a movable chassis mechanism including a first sensor assembly for acquiring positional information of the chassis mechanism. The picking mechanism comprises a picking assembly and a first visual sensor used for acquiring image information of picked fruits, wherein the picking assembly is movably arranged on the chassis mechanism, and the first visual sensor is arranged on the picking assembly. The boxing mechanism comprises a loading box body for loading the picked fruits and is arranged on the chassis mechanism. The chassis mechanism moves to a picking area according to the position information of the picking area and the position information of the chassis mechanism acquired by the first sensor assembly, and the picking assembly loads picked fruits into the loading box body after picking according to picking instructions.

Description

Picking robot

Technical Field

This description relates to a picking robot about the robotechnology field.

Background

At present, fruit picking, recovery and transportation are usually completed by manpower, the problems of low picking efficiency, high labor cost and the like exist, and how to realize picking operation in an unmanned environment is a problem to be solved urgently in the industry.

SUMMERY OF THE UTILITY MODEL

The present specification provides a picking robot to solve the disadvantages in the related art.

An embodiment of the present specification provides a picking robot, including:

a movable chassis mechanism including a first sensor assembly for acquiring positional information of the chassis mechanism;

the picking mechanism comprises a picking assembly and a first visual sensor used for acquiring image information of picked fruits, the picking assembly is movably arranged on the chassis mechanism, and the first visual sensor is arranged on the picking assembly;

the boxing mechanism comprises a loading box body for loading picked fruits and is arranged on the chassis mechanism;

the chassis mechanism moves to a picking area according to the position information of the picking area and the position information of the chassis mechanism acquired by the first sensor assembly, and the picking assembly loads picked fruits into the loading box body after picking according to picking instructions.

The picking mechanism is electrically connected with the chassis mechanism, the picking mechanism and the boxing mechanism;

the processor is used for analyzing according to the received data information to obtain a corresponding analysis result, and the control mechanism is used for sending a corresponding control instruction to the chassis mechanism, the picking mechanism and the boxing mechanism according to the analysis result.

Further, the chassis mechanism comprises a movable chassis frame, the first sensor assembly is arranged on the chassis frame and is electrically connected with the processor, and the chassis frame is electrically connected with the control mechanism;

the processor analyzes a first moving path of the picking robot according to the position information of the picking area and the position information of the chassis frame acquired by the first sensor assembly, and sends the first moving path to the control mechanism, the control mechanism sends a first moving instruction to the chassis frame according to the first moving path, and the chassis frame moves to the picking area according to the first moving instruction.

The chassis mechanism further comprises a wheel disc assembly and a first driving assembly connected with the wheel disc assembly, the wheel disc assembly is arranged at the bottom of the chassis frame, and the first driving assembly is electrically connected with the control mechanism;

the control mechanism sends a first driving instruction to the first driving assembly according to the first moving instruction, and the first driving assembly drives the wheel disc assembly to move the chassis frame to a picking area according to the first driving instruction.

Further, the wheel disc assembly comprises a plurality of tire groups, each tire group comprises two tires arranged at the bottom of the chassis frame and a suspension connected between the two tires, and each suspension is provided with a plate spring.

Further, the first vision sensor is electrically connected with the processor, and the picking assembly is electrically connected with the control mechanism;

the processor analyzes the position information and picking path of the picked fruits according to the image information of the picked fruits acquired by the first vision sensor and sends the position information and picking path to the control mechanism; or the processor uploads the image information of the picked fruits acquired by the first vision sensor to the server side, the server side analyzes the position information and picking path of the picked fruits and sends the position information and picking path to the processor, and the processor sends the position information and picking path of the picked fruits to the control mechanism;

the control mechanism sends picking moving instructions to the chassis mechanism according to the position information of the picked fruits and sends picking instructions to the picking assemblies according to the picking paths, the chassis mechanism moves to the positions of the picked fruits according to the picking moving instructions, and the picking assemblies pick the fruits according to the picking instructions.

The picking mechanism further comprises a guide rail assembly and a second driving assembly, wherein the guide rail assembly is arranged on the chassis mechanism and comprises a first guide rail arranged along a first direction, a second guide rail arranged along a second direction and a third guide rail arranged along a third direction; the picking assembly is arranged on the first guide rail in a sliding manner, the first guide rail is arranged on the second guide rail in a sliding manner, the second guide rail is arranged on the third guide rail in a sliding manner, and the third guide rail is arranged on the chassis mechanism; the second driving assembly is connected with the picking assembly, the first guide rail and the second guide rail and is used for driving the picking assembly, the first guide rail and the second guide rail to move;

the control mechanism sends a second driving instruction to the second driving component according to the picking path, and the second driving component drives the first guide rail, the second guide rail and the picking component to move to corresponding positions according to the second driving instruction, so that the picking component picks fruits according to the picking path.

Further, the picking assemblies are multiple, the first visual sensor corresponds to the number of the picking assemblies, and the number of the guide rail assemblies corresponds to the number of the picking assemblies; a first rail of one of the rail assemblies is provided with one of the picking assemblies, and one of the picking assemblies is provided with one of the first vision sensors.

Further, the second direction is arranged along the horizontal direction, the third direction is arranged along the vertical direction, and a set inclination angle is formed between the first direction and the horizontal plane.

Further, the picking assembly comprises a raceway for connection with the bin mechanism, picking paws connected to ends of the raceway, and a support for connection with the chassis mechanism.

Furthermore, the picking paw comprises a paw base connected to the end part of the roller path, a plurality of groups of grabbing clamping pieces and a third driving assembly; the gripping clamping piece is arranged on one side, away from the raceway, of the paw base, and the third driving component is connected with the gripping clamping piece and used for driving the gripping clamping piece to rotate or deform so as to clamp or loosen picked fruits to rotate; the control mechanism is electrically connected with the third driving component, the control mechanism sends a third driving instruction to the third driving component according to the picking instruction, and the third driving component drives the grabbing clamping piece to move according to the third driving instruction; or

The picking paw comprises a paw base connected to the end part of the roller path, a plurality of groups of flexible paws and a third driving component; the flexible paw is arranged on one side, far away from the raceway, of the paw base, and the third driving assembly is connected with the flexible paw and used for driving the flexible paw to rotate or swing towards the direction close to or far away from the picked fruit so as to clamp or loosen the picked fruit; the control mechanism is electrically connected with the third driving component, the control mechanism sends a third driving instruction to the third driving component according to the picking instruction, and the third driving component drives the flexible paw to move according to the third driving instruction.

Further, the boxing mechanism comprises a conveyor belt assembly, and the conveyor belt assembly is arranged on the chassis mechanism;

one end of the conveying belt assembly is connected with the picking mechanism, the other end of the conveying belt assembly is connected with the loading box body, picked fruits are placed into the conveying belt assembly by the picking mechanism, and then the fruits are conveyed into the loading box body by the conveying belt assembly.

Further, the conveyor belt assembly comprises a first conveyor belt arranged along the horizontal direction, a second conveyor belt connected with the first conveyor belt and arranged along the vertical direction, a slide way connected with the second conveyor belt and arranged along the horizontal direction, and a third conveyor belt connected with the slide way and arranged along the vertical direction, wherein the first conveyor belt is connected with the picking mechanism, and the third conveyor belt is connected with the loading box body and positioned above the loading box body;

the picking mechanism is used for placing picked fruits into the first conveying belt, and then the fruits are conveyed into the loading box body through the first conveying belt, the second conveying belt, the slide way and the third conveying belt.

Further, the vanning mechanism still includes the carousel and locates the flexible scraper blade of carousel inner wall, the carousel connect in the bottom of third conveyer belt, flexible scraper blade with the carousel encloses to close to form and is used for making to pick the fruit and fall into a plurality of orifices of loading the box, certainly the fruit of third conveyer belt transmission is followed the orifice falls into in the loading box, flexible scraper blade along the carousel rotates in order to pave the fruit.

Furthermore, the box loading mechanism further comprises a fourth driving assembly, a fork connected with the fourth driving assembly and a second visual sensor used for acquiring image information of the fruits in the loading box; the fork is arranged on the chassis mechanism in a lifting mode and is connected with the loading box body, the second vision sensor is electrically connected with the processor, and the fourth driving assembly is electrically connected with the control mechanism;

the processor analyzes the loading information of the fruits in the loading box according to the image information of the fruits in the loading box, which is acquired by the second vision sensor, and sends the loading information to the control mechanism; or the processor uploads the image information of the fruits in the loading box, which is acquired by the second visual sensor, to the server, the server analyzes the loading information of the fruits in the loading box and sends the loading information to the processor, and the processor controls the loading information of the fruits in the loading box;

and the control mechanism sends a fourth driving instruction to the fourth driving assembly according to the loading information, and the fourth driving assembly drives the fork to descend and move according to the fourth driving instruction so as to drive the loading box body to descend.

According to the technical scheme, the chassis mechanism of the picking robot can automatically navigate to the picking area according to the position information of the picking area and the position information of the picking robot acquired by the first sensor assembly, the picking robot picks picked fruits according to received picking instructions and places the picked fruits into the loading box body of the boxing mechanism after entering the picking area, flexible and automatic movement is achieved, automatic picking, boxing and collecting of the fruits and the like are completed, the robot can operate in a partially participated or completely unmanned environment, and all-weather uninterrupted continuous picking of the fruits is guaranteed.

Drawings

Fig. 1 shows a perspective view of a picking robot of an exemplary embodiment of the present description.

Fig. 2 shows a perspective view of a chassis mechanism of a picking robot of an exemplary embodiment of the present description.

Fig. 3 illustrates a perspective view of a picking assembly of a picking robot in an exemplary embodiment of the present description.

Fig. 4 illustrates a perspective view of a rail assembly of a picking robot in an exemplary embodiment of the present description.

Fig. 5 illustrates a perspective view of a picking gripper of a picking robot in an exemplary embodiment of the present description.

Fig. 6 illustrates a perspective view of a picking gripper of another picking robot of an exemplary embodiment of the present description.

Fig. 7 illustrates a perspective view of a packing mechanism of a picking robot in an exemplary embodiment of the present description.

Fig. 8 shows a flow diagram of a picking method according to an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the specification, as detailed in the appended claims.

The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present specification. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

An embodiment of the present specification provides a picking robot, including:

The picking robot of this specification, chassis mechanism can independently navigate to picking the region according to the position information in picking the region and the position information of self that first sensor subassembly acquireed, get into picking regional back, picking mechanism's picking subassembly is picked the picking fruit and is put into the loading box body of vanning mechanism according to the picking instruction that receives, realize nimble, independently remove to accomplish work such as automatic picking, vanning collection of fruit, can be in operation under the partly participation or unmanned environment completely, guarantee that the robot can be in succession picked in all weather for the fruit.

The present specification provides a picking robot. The picking robot of the present specification will be described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

Referring to fig. 1 to 7, an embodiment of the present description provides a picking robot, including: a movable chassis mechanism 10, a picking mechanism 20 arranged on the chassis mechanism 10 and a boxing mechanism 30. The chassis mechanism 10 can be moved to the picking zone according to the position information of the picking zone. After moving to the picking area, the picking mechanism 20 can pick the fruit and place it in the case-filling mechanism according to the picking instructions received. After boxing is completed, the chassis mechanism 10 can be moved to the warehouse according to the position information of the warehouse. After moving to the warehouse, the boxing mechanism 30 can unload the loaded fruits to the warehouse.

The picking robot can autonomously navigate to a picking area according to position information of the picking area, and after the picking robot enters the picking area, the picking mechanism picks picked fruits according to received picking instructions and places the picked fruits into the boxing mechanism, the fruits are autonomously navigated and moved to the warehouse according to the position information of the warehouse after boxing, the boxing mechanism unloads the loaded fruits to the warehouse, flexibility and autonomous movement are achieved, automatic picking, boxing collection, unloading and other work of the fruits are completed, the robot can operate in a partially participated or completely unmanned environment, and all-weather uninterrupted continuous picking of the fruits is guaranteed.

In some alternative embodiments, the picking robot may further comprise a control mechanism 40 and a processor electrically connected to said control mechanism 40, said control mechanism 40 being electrically connected to said chassis mechanism 10, said picking mechanism 20 and said binning mechanism 30. The processor is configured to analyze the received data information to obtain a corresponding analysis result, and the control mechanism 40 is configured to send a corresponding control instruction to the chassis mechanism 10, the picking mechanism 20, and the boxing mechanism 30 according to the analysis result. In this embodiment, the control mechanism 40 may be a control cabinet, which is disposed at the front of the chassis frame 11. The received data information may refer to data information acquired by the first sensor assembly, the first vision sensor, and the second vision sensor, which will be described in detail below. It should be noted that the processor may independently analyze the received data information, or may upload the received data information to the server through wireless communication or the like, and after the server performs remote analysis to obtain an analysis result, the server sends the analysis structure and a corresponding control instruction to the processor, and the processor sends the control instruction to the control mechanism 40, so as to perform a corresponding operation.

Referring to fig. 2, the chassis mechanism 10 includes a movable chassis frame 11 and a first sensor assembly 12 for acquiring position information of the chassis frame 11, the chassis frame 11 is electrically connected to the control mechanism 40, and the first sensor assembly 12 is disposed on the chassis frame 11 and electrically connected to the processor, and is used for implementing autonomous navigation of the chassis mechanism 10. Optionally, the chassis mechanism 10 may further include a battery 13 and a range extender 14. The battery 13 can provide power for the whole picking robot, and the range extender 14 mainly provides continuous power for the battery 13, so that the cruising ability of the picking robot is improved. In the present embodiment, the first sensor assembly 12 and the range extender 14 are disposed at the front of the chassis frame 11, and the battery 13 is disposed at the middle of the chassis frame 11.

The processor can analyze a first moving path of the picking robot according to the position information of the picking area and the position information of the chassis frame 11 acquired by the first sensor assembly 12, and send the first moving path to the control mechanism 40, the control mechanism 40 sends a first moving instruction to the chassis frame 11 according to the first moving path, and the chassis frame 11 moves to the picking area according to the first moving instruction, so that the picking robot can autonomously navigate to the picking area (such as an orchard) and execute picking tasks. The processor may send the position information of the chassis frame 11 acquired by the first sensor assembly 12 to the server, and the server may analyze the position information to obtain the first moving path of the picking robot and send the first moving path to the processor.

In the embodiment, the chassis frame 11 is a rectangular frame structure, and the middle portion of the chassis frame 11 is a sunken structure compared with the two ends, so that the chassis mechanism 10 is more stable in structure. The front end of the chassis frame 11 is used for bearing the control mechanism 40, the first sensor assembly 12, the range extender 14 and the like, the middle part of the chassis frame 11 is used for bearing the picking mechanism 20, the rear part of the chassis frame 11 is used for bearing the boxing mechanism 30, the space of the chassis frame 11 is fully and reasonably utilized, the weight distribution borne by each part of the chassis mechanism 10 is balanced, and the structure is more stable.

In some alternative embodiments, the processor may be configured to analyze the boundary of the picking zone based on the position information of the picking zone and determine whether the picking robot is located within the boundary based on the position information of the chassis frame 11 acquired by the first sensor assembly 12. If the picking robot is judged to be out of the boundary range of the picking area, an adjusting signal is sent to the control mechanism 40, and the control mechanism 40 sends an adjusting instruction to the chassis frame 11 according to the adjusting signal, so that the chassis frame 11 is navigated back to the picking area again, the picking error rate is reduced, and the picking efficiency is improved. Or, the processor may send the position information of the chassis frame 11 acquired by the first sensor assembly 12 to the server, the server analyzes the boundary range of the picking area according to the position information of the picking area, and determines whether the picking robot is located in the boundary range, and then sends the determination result and the adjustment instruction to the processor, and the control mechanism 40 sends the adjustment instruction to the chassis frame 11, so that the chassis frame 11 is navigated back to the picking area again, thereby reducing the error rate of picking and improving the picking efficiency.

In some optional embodiments, the chassis mechanism 10 further includes a wheel assembly and a first driving assembly connected to the wheel assembly, the wheel assembly is disposed at the bottom of the chassis frame 11, and the first driving assembly is electrically connected to the control mechanism 40. The control mechanism 40 sends a first driving instruction to the first driving assembly according to the first moving instruction, and the first driving assembly drives the wheel disc assembly to move the chassis frame 11 to a picking area according to the first driving instruction, so that autonomous navigation movement of the picking robot is realized.

Further, the wheel assembly includes a plurality of tire sets 16, the tire sets 16 include two tires 161 disposed at the bottom of the chassis frame 11 and a suspension 162 connected between the two tires 161, and the suspension 162 is provided with a leaf spring 163. The whole quality of the picking robot and the change of the gravity center of the picking robot before and after picking are considered, the plate spring 163 is arranged in the suspension 162, the problem that the chassis frame 11 does not have obvious inclination before and after the picking robot is unloaded and fully loaded can be ensured, and the stability of the whole structure is improved. The fruit picking robot can be suitable for orchard mud road surfaces, and intelligent navigation movement of the picking robot under the requirement of fruit picking and recovery is achieved.

In the present embodiment, the number of the tire groups 16 is two, that is, the front tire group and the rear tire group. The front tire set is suspended by a front axle, and the rear tire set is suspended by a rear axle. The first drive assembly may include a first drive motor 151 and a steering gear 152, both electrically connected to the control mechanism 40. The first driving motor 151 is provided at the rear of the chassis frame 11 and connected to the rear tire set, and the steering gear 152 is provided at the rear of the chassis frame 11 and connected to the front tire set. The first driving motor 151 is used for driving the rear tire set to roll, so as to realize the forward and backward movement of the chassis mechanism 10. The steering gear 152 is used to control the yaw direction of the front tire group, and to achieve left-right steering of the chassis mechanism 10. The tires 161, the suspension 162, the first drive motor 151 and the steering gear 152 of the chassis mechanism 10 constitute the basic driving parts of the chassis mechanism 10 for performing the basic moving operation of the picking robot.

In some alternative embodiments, as shown in fig. 3, the picking mechanism 20 includes picking assemblies 21 and a first visual sensor 22 for acquiring image information of picked fruits, the picking assemblies 21 are movably disposed on the chassis frame 11 of the chassis mechanism 10, the first visual sensor 22 is disposed on the picking assemblies 21 and electrically connected to the processor, and the picking assemblies 21 are electrically connected to the control mechanism 40. Optionally, a first visual sensor 22 is disposed at the front end of picking assembly 21, i.e., near the end where the fruit is picked, to facilitate the collection of image information of the picked fruit. In this embodiment, picker mechanism 20 is disposed in the middle of chassis frame 11. The first vision sensor 22 may be a vision sensor, which can more accurately determine the position of the fruit and the picking condition of the fruit, thereby improving the picking efficiency and accuracy.

The processor can analyze the position information and picking path of the picked fruit according to the image information of the picked fruit acquired by the first vision sensor 22 and send the position information and picking path to the control mechanism 40. Or, the processor uploads the image information of the picked fruit acquired by the first vision sensor 22 to the server, the server analyzes the image information to obtain the position information and picking path of the picked fruit and sends the position information and picking path to the processor, and the processor sends the position information and picking path of the picked fruit to the control mechanism 40.

The control mechanism 40 sends a picking movement instruction to the chassis frame 11 of the chassis mechanism 10 according to the position information of the picked fruits and sends a picking instruction to the picking assembly 21 according to the picking path, the chassis frame 11 of the chassis mechanism 10 moves to the position of the picked fruits according to the picking movement instruction, and the picking assembly 21 picks the fruits according to the picking instruction, so that automatic picking operation is realized.

In some optional embodiments, a vertical column frame 17 is disposed in the middle of the chassis frame 11, the picking mechanism 20 may further include a rail assembly and a second driving assembly disposed on the vertical column frame 17, the rail assembly includes a first rail 23 disposed along the first direction Z, a second rail 24 disposed along the second direction X, and a third rail 25 disposed along the third direction Y, the picking assembly 21 is slidably disposed on the first rail 23, the first rail 23 is slidably disposed on the second rail 24, the second rail 24 is slidably disposed on the third rail 25, and the third rail 25 is disposed on the vertical column frame 17. The second driving assembly is connected with the picking assembly 21, the first guide rail 23 and the second guide rail 24, and is used for driving the picking assembly 21, the first guide rail 23 and the second guide rail 24 to move.

The control mechanism 40 sends a second driving instruction to the second driving assembly according to the picking path, and the second driving assembly drives the first guide rail 23, the second guide rail 24 and the picking assembly 21 to move to corresponding positions according to the second driving instruction, so that the picking assembly 21 can pick fruits according to the picking path, and automatic picking operation is realized. It can be understood that guide rail assembly can provide space movement for picking assembly 21 from three different directions, and will pick assembly 21 and remove the position of waiting to pick the fruit, make picking assembly 21 can pick the fruit of each different position, realize that omnidirectional free movement is picked.

In this embodiment, the picking assemblies 21 are multiple, and one picking robot is configured with multiple picking assemblies, so as to sufficiently improve the picking efficiency. The first vision sensors 22 correspond to the number of picking assemblies 21. The number of the guide rail assemblies corresponds to the number of the picking assemblies 21. A first rail 23 of one of said rail assemblies is provided with one of said picking assemblies 21 and one of said picking assemblies 21 is provided with one of said first vision sensors 22. In this embodiment, the upright frame 17 is disposed in the middle of the chassis frame 11 for installing the rail assembly of the picking mechanism 20, and the middle of the chassis frame 11 bears the weight of the picking mechanism 20, so as to fully and reasonably utilize the space of the chassis frame 11, balance the weight distribution borne by each part of the chassis mechanism 10, and make the structure more stable. The second drive assembly may include a rail motor and drive coupled to the first rail 23, the second rail 24, and the third rail 25, respectively, for driving movement of the rails.

Alternatively, the pillar frame 17 may include a plurality of first frame bodies 171 arranged in a vertical direction and a plurality of second frame bodies 172 arranged in a horizontal direction, and the first frame bodies 171 and the second frame bodies 172 are spliced to form a frame structure of a cubic structure for mounting the rail assembly. The second direction X is arranged along the horizontal direction, the third direction Y is arranged along the vertical direction, and a set inclination angle is formed between the first direction Z and the horizontal plane. It can be understood that the second guide rail 24 and the third guide rail 25 are orthogonally arranged, and the first guide rail 23 has a set inclination angle with respect to the horizontal plane, so as to ensure that the picked fruit can smoothly fall along the direction of the first guide rail 23, and the set angle can be set according to actual needs, which is not limited in this specification. Second rail 24 can move along third rail 25 along vertical direction, first rail 23 can move along second rail 24 along horizontal direction, picking subassembly 21 can move along first rail 23 relative to the horizontal plane slope, be convenient for pick the fruit to realize picking subassembly 21 can move along all directions. In this embodiment, the number of the guide rail assemblies is six, that is, all of the first guide rail 23, the second guide rail 24, and the third guide rail 25 are six, and may be set according to actual needs, which is not limited in this specification.

In some alternative embodiments, picking assembly 21 includes a race 26 for coupling with the bin mechanism 30, picking fingers 27 coupled to the ends of race 26, and a bracket 28 for coupling with a rail assembly provided to the chassis frame 11. In this embodiment, the bracket 28 is connected to the first rail 23 of the rail assembly. The raceway 26 is of a telescopic pipe structure for enabling the picking paw 27 to move along the first guide rail 23, so as to complete the picking of the fruit, and the picked fruit can fall along the raceway 26 into the loading bin 31.

In one embodiment, as shown in fig. 4 and 5, the picking gripper 27 includes a gripper base 271 connected to an end of the raceway 26, a plurality of sets of gripping jaws 272, and a third driving element 273, the gripping jaws 272 are disposed on a side of the gripper base 271 away from the raceway 26, and the third driving element 273 is connected to the gripping jaws 272 for driving the gripping jaws 272 to rotate or to deform to grip or release the picked fruit to rotate. The plurality of sets of gripping jaws 272 enclose a space for picking up the fruit, and the gripping jaws 272 are deformed by the third driving assembly 273, thereby clamping or releasing the fruit. Optionally, the third driving assembly 273 is a driving motor, the motor is used for realizing tightening, rotating and loosening of the picking paw, the fruit can be intelligently clamped, the handle can be twisted off through rotation of the clamped fruit, the structure is compact, and the orchard picking environment can be suitable. The gripping clips 272 may be iron to ensure that the fruit is securely gripped. The number of the grabbing clamping pieces 272 is two, and the grabbing clamping pieces are of a semi-arc structure and can enclose to form a circular space for picking fruits.

The control mechanism 40 is electrically connected to the third driving component 273, the control mechanism 40 sends a third driving command to the third driving component 273 according to the picking command, and the third driving component 273 drives the grasping jaw 272 to move according to the third driving command. According to the position of the fruit judged by the first vision sensor 22, the control mechanism 40 firstly controls the picking assembly 21 to move to the position of the fruit along the guide rail assembly and to coat the fruit outside through the grabbing clamping piece 272, then controls the grabbing clamping piece 272 to deform to clamp the fruit, and after the grabbing clamping piece 272 is completely tightened, the third driving assembly 273 continues to drive the grabbing clamping piece 272 to rotate, so that the fruit handle is broken, and the fruit picking is realized. When the first visual sensor 22 detects that the fruit stem is broken, a signal is sent to the control mechanism 40, and the control mechanism 40 controls the third driving member 273 to drive the gripping jaw 272 to rotate reversely, so that the gripping jaw 272 releases the fruit, and the fruit enters the raceway 26 and thus enters the loading box 31 under the action of the inclination angle of the first guide rail 23.

In another embodiment, as shown in fig. 6, the picking gripper 27 comprises a gripper base 271 connected to the end of the raceway 26, a plurality of sets of flexible grippers 274, and a third driving member 273, wherein the flexible grippers 274 are disposed on the side of the gripper base 271 away from the raceway 26, and the third driving member 273 is connected to the flexible grippers 274 for driving the flexible grippers 274 to rotate or swing toward or away from the picked fruit so as to clamp or release the picked fruit. The sets of flexible fingers 274 enclose a space for picking the fruit and the flexible fingers 274 are pivotable towards and away from the picking fruit by the third drive assembly 273 to grip or release the fruit. The number of flexible fingers 274 is three, arranged evenly around the circumference, and able to enclose a circular space for picking the fruit.

The control mechanism 40 is electrically connected to the third driving component 273, the control mechanism 40 sends a third driving command to the third driving component 273 according to the picking command, and the third driving component 273 drives the flexible gripper 274 to move according to the third driving command. According to the position of the fruit judged by the first visual sensor 22, the control mechanism 40 firstly controls the picking assembly 21 to move along the guide rail assembly to the position of the fruit to be coated outside the fruit through the flexible claw 274, then controls the flexible claw 274 to swing towards the direction close to the fruit to clamp the fruit, and after the flexible claw 274 is completely tightened, the third driving assembly 273 continues to drive the grabbing clamping piece 272 to rotate, so that the fruit stem is broken, and the fruit is picked. When the first visual sensor 22 detects that the fruit stem is broken, it sends a signal to the control mechanism 40, and the control mechanism 40 controls the third driving member 273 to drive the flexible gripper 274 to rotate reversely, so that the flexible gripper 274 swings away from the fruit to release the fruit, and the fruit enters the raceway 26 and thus the loading compartment 31 under the inclination of the first guiding rail 23.

In some alternative embodiments, as shown in fig. 7, the packing mechanism 30 comprises a loading bin 31 for loading the picked fruit and a conveyor belt assembly, both the loading bin 31 and the conveyor belt assembly being arranged to the chassis frame 11 of the chassis mechanism 10. In the present embodiment, the loading bin 31 is provided at the rear of the chassis frame 11. The boxing mechanism 30 further comprises a column 32 fixed on the chassis frame 11, a conveyor belt assembly is arranged on the column 32, one end of the conveyor belt assembly is connected with the picking assembly 21 of the picking mechanism 20, and the other end of the conveyor belt assembly is connected with the loading box 31. The picking assembly 21 picks the picked fruits off and places them on the conveyor assembly, which transports the fruits into the loading bin 31. After the picking assembly 21 releases the fruit, the fruit enters the conveyor assembly from the raceway 26 under the inclination of the first guide rail 23 and is then transported into the loading bin 31.

In this embodiment, the conveyor belt assembly includes a first conveyor belt 33 arranged along a horizontal direction, a second conveyor belt 34 connected to the first conveyor belt 33 and arranged along a vertical direction, a slide 35 connected to the second conveyor belt 34 and arranged along a horizontal direction, and a third conveyor belt 36 connected to the slide 35 and arranged along a vertical direction, the first conveyor belt 33 is connected to the picking assembly 21, the third conveyor belt 36 is connected to the loading box 31 and located above the loading box 31, and the second conveyor belt 34 may be fixed to the upright column 32 by a bracket or the like, so as to fix the conveyor belt assembly to the chassis frame 11. Picking subassembly 21 puts into after picking fruit 90 picks first conveyer belt 33 of conveyer belt subassembly, spreads into second conveyer belt 34 again, and rethread slide 35 spreads into third conveyer belt 36, at last transmit to in loading box 31, conveyer belt subassembly and slide can guarantee the harmless transport of fruit, and the whole process is coherent, simple, and the at utmost has avoided colliding with of fruit.

In some alternative embodiments, the boxing mechanism 30 further comprises a turntable 37 and a flexible scraper 38 arranged on the inner wall of the turntable 37, wherein the turntable 37 is connected to the bottom of the third conveyor belt 36 and is positioned above the loading box 31. The flexible scraper 38 and the turntable 37 enclose a plurality of orifices 39 for allowing picked fruits to fall into the loading bin 31, the fruits transferred from the third conveyor 36 fall into the loading bin 31 through the orifices 39, and the flexible scraper 38 rotates with the turntable 37 to flatten the fruits. After the fruits are transferred into the third conveyor belt 36, the fruits fall into the loading box 31 through the leakage opening 39 of the turntable 37, the turntable 37 always keeps a rotating state, the fruits can uniformly fall into the loading box 31, and the fruits are leveled by the flexible scraper 38, so that the fruits are uniformly distributed under the condition of no damage. Optionally, a counting sensor 50 may be provided on the chute 35 or on the third conveyor belt 36, so as to count the fruits passing through the chute 35, thereby realizing the counting function.

In some optional embodiments, the boxing mechanism 30 may further include a fourth driving component, a fork 41 connected to the fourth driving component, and a second visual sensor for acquiring image information of the fruit in the loading box 31, wherein the fork 41 is disposed on the chassis frame 11 of the chassis mechanism 10 in a lifting manner and connected to the loading box 31, and optionally, the fork 41 is disposed on the upright 32 in a sliding manner. The second visual sensor is electrically connected to the processor and the fourth drive assembly is electrically connected to the control mechanism 40.

The processor can analyze and obtain the loading information of the fruits in the loading box 31 according to the image information of the fruits in the loading box 31 acquired by the second vision sensor and send the loading information to the control mechanism 40. Or, the processor uploads the image information of the fruit in the loading box 31 acquired by the second vision sensor to the server, the server analyzes the loading information of the fruit in the loading box 31 to obtain the loading information of the fruit in the loading box 31 and sends the loading information to the processor, and then the processor controls the loading information of the fruit in the loading box 31 to the control mechanism 40.

The control mechanism 40 sends a fourth driving instruction to the fourth driving component according to the loading information, and the fourth driving component drives the fork 41 to move down along the upright column 32 according to the fourth driving instruction, so as to drive the loading box 31 to move down. Alternatively, the second visual sensor may be a visual sensor. The fourth driving assembly may include an electric pushing cylinder 42 and a chain 43 connected to the electric pushing cylinder 42, the fork 41 is connected to the chain 43, and the electric pushing cylinder 42 can drive the chain 43 to move the fork 41 up and down, so as to realize the up and down movement of the loading box 31, thereby controlling the height of the loading box 31. When the second vision sensor detects that the fruit is covered by one layer, a signal is sent to the control mechanism 40, and the control mechanism 40 controls the fourth driving assembly to drive the fork 41 to move downwards for a certain height, so as to start collecting the next layer of fruit.

Further, the processor can determine that the boxing mechanism 30 finishes boxing and then sends an unloading signal to the control mechanism 40 according to the image information of the fruits in the loading box 31 acquired by the second vision sensor, and analyze a second moving path of the picking robot according to the position information of the warehouse and the position information of the chassis frame 11 acquired by the first sensor assembly 12 and send the second moving path to the control mechanism 40, the control mechanism 40 can send a second moving instruction to the chassis frame 11 of the chassis mechanism 10 according to the second moving path and send an unloading instruction to the boxing mechanism 30 according to the unloading signal, the chassis frame 11 of the chassis mechanism 10 moves to the warehouse according to the second moving instruction, and the boxing mechanism 30 unloads the loaded fruits to the warehouse according to the unloading instruction. The processor may send the position information of the chassis frame 11 acquired by the first sensor assembly 12 to the server, and the server may analyze the position information to obtain the second moving path of the picking robot and send the second moving path to the processor. It will be appreciated that when the second visual sensor detects that the loading bin 31 is full, the control mechanism 40 controls the fourth drive assembly to drive the forks 41 to automatically lower to a height, controls the first drive assembly to drive the chassis mechanism to move into the bin, and controls the forks 41 to place the full loading bin 31 into the bin and replace one of the loading bins 31 to begin picking the next box of fruit.

The picking robot of this specification, control mechanism can handle the signal of first sensor subassembly, first vision sensor and second vision sensor to accomplish the whole motor control of robot, and then realize that robot chassis mechanism's autonomic navigation control, fruit space coordinate acquire, picking subassembly self-adaptation remove, fruit intelligence are picked, fruit is retrieved vanning, intelligence trades the case process, guarantees that the picking robot can be in succession picked in all weather incessant fruit.

The picking robot can flexibly and independently move in an orchard, can complete automatic picking, collection and other works of fruits, and guarantees continuous and nondestructive picking of the fruits. The picking robot is anchored in a storehouse in advance, can remotely send picking instructions through the upper computer or the server, sends an orchard address to the picking robot, can autonomously navigate and move to an orchard by means of cooperation of the first sensor assembly and the first driving assembly, then starts picking work, and can work cooperatively by a plurality of picking robots in the period.

The picking robot adjusts self posture after entering the orchard, intelligently discriminates the space position coordinates of numerous mature fruits through the first visual sensor of the picking assembly, then the control mechanism of the picking robot controls the first driving assembly to drive the chassis frame to move according to the position coordinates of the fruits to be picked, meanwhile, according to the high efficiency principle, target fruits of all picking assemblies are intelligently distributed, and the most efficient picking sequence is planned.

When the chassis frame moves to the position near the fruit picking position, the plurality of picking assemblies can complete the movement to the position of the fruit to be picked under the coordination of the guide rail assemblies. Subsequently, the picking paw of the picking assembly starts to work after being in place, the first vision sensor firstly adjusts the posture of the picking paw, the third driving assembly controls the rotation and tightening of the picking paw, so that the fruit handle is broken through the rotation of the fruit, and the third driving assembly drives the picking paw to reversely rotate to loosen the fruit after the first vision sensor confirms that the fruit is broken.

The fruit can roll down with suitable speed along the raceway of picking the subassembly, gets into the conveyer belt subassembly of mechanism of casing, reaches the carousel through first conveyer belt, second conveyer belt, slide, third conveyer belt respectively, guarantees to pick even, the harmless loading box that falls of fruit in, and flexible scraper blade can be trowelled this layer of fruit. When the second vision sensor judges that the current layer of fruits in the loading box body is fully stacked, the control mechanism controls the fourth driving assembly to drive the fork to move downwards for an interval to drive the loading box body to move downwards for an interval, so that the next layer of fruits is collected, and the process is repeated until the fruit box is fully filled.

When the fruit box is full, the picking assembly stops picking, the picking robot automatically navigates to move to the cargo bin, then the fork is controlled to place the fully loaded loading box body in the cargo bin and replace one loading box body, and the next picking period is started to pick the next box of fruits.

This specification also provides a picking robot comprising: the device comprises a movable chassis mechanism, a picking mechanism, a boxing mechanism and a control mechanism. It should be noted that the description of the chassis mechanism, the picking mechanism, the boxing mechanism and the control mechanism in the above embodiments and examples is also applicable to the picking robot in the present embodiment.

The movable chassis mechanism includes a first sensor assembly for acquiring positional information of the chassis frame. Picking mechanism is including picking the subassembly and be used for acquireing the first vision sensor of image information who picks the fruit, picking subassembly activity set up in chassis mechanism, first vision sensor locates picking the subassembly. The boxing mechanism comprises a loading box body for loading picked fruits and is arranged on the chassis mechanism. A control mechanism is electrically connected to the chassis mechanism, the first sensor assembly, the picking assemblies, and the first vision sensor, the control mechanism sending movement instructions to the chassis frame to move the chassis frame to a picking area based on signals from the first sensor assembly, and sending picking instructions to the picking assemblies to cause the picking assemblies to load picked fruits into the loading bin after picking based on signals from the first vision sensor.

The picking robot of this specification can realize independently navigating to the picking region in orchard through first sensor subassembly, get into the orchard after, through first vision sensor intelligence screening the spatial position coordinate of picking the fruit and remove near picking the fruit, cooperate the picking subassembly again to have picked the fruit and loaded the box into, realize nimble, independently remove, and accomplish work such as automatic picking, collection of fruit, can be in some participation or operation under the unmanned environment completely, guarantee that the robot can be in all weather incessant fruit and pick in succession.

Referring to fig. 8, the present specification further provides a picking method based on a picking robot, and it should be noted that the picking method may be based on the picking robot described in the above embodiments and examples. The picking method comprises the following steps:

step S11: and sending a picking instruction to the picking robot.

Step S12: and after receiving the picking instruction, the picking robot moves to the picking area according to the position information of the picking area.

Step S13: after moving to the picking area, the picking robot picks the fruits and packs them.

Step S14: and after boxing is finished, the picking robot moves to the warehouse according to the position information of the warehouse.

Step S15: after moving to the warehouse, the picking robot unloads the loaded fruit to the warehouse.

By the method, the picking robot can autonomously navigate to the picking area according to the position information of the picking area, picked fruits are intelligently and automatically picked and boxed after entering the picking area, the picked fruits are autonomously navigated to the warehouse according to the position information of the warehouse after boxing is completed, the loaded fruits are unloaded to the warehouse, flexible and autonomous movement is realized, automatic picking, boxing collection, unloading and other work of the fruits are completed, the robot can operate in a partially participated or completely unmanned environment, and the robot can continuously pick the fruits all day long.

In some optional embodiments, the picking robot comprises a first sensor assembly for acquiring the position information of the picking robot, and the moving of the picking robot to the picking area according to the position information of the picking area in the step S12 may further comprise: the picking robot is moved to the picking area according to the first moving path, so that the picking robot can autonomously navigate to the picking area (such as an orchard) and execute picking tasks.

It is noted that the picking robot may comprise a processor for analysing the first path of movement of the picking robot based on the position information of the picking area and the position information of the picking robot acquired by the first sensor assembly. Or the processor sends the position information of the picking robot acquired by the first sensor assembly to the server side, and the server side analyzes the position information to obtain the first moving path of the picking robot and sends the first moving path to the processor.

In some optional embodiments, the picking robot includes a first vision sensor for acquiring image information of picked fruits, and the picking robot picks and boxes the fruits in step S13, and may further include: and analyzing the image information of the picked fruits acquired by the first vision sensor to obtain the position information and picking path of the picked fruits, and picking the fruits and boxing the fruits according to the picking instructions after the picking robot moves to the position of the picked fruits according to the position information of the picked fruits, thereby realizing automatic picking operation.

It should be noted that the picking robot may include a processor for analyzing the position information and picking path of the picked fruit according to the image information of the picked fruit acquired by the first vision sensor. The processor can also send the image information of the picked fruits acquired by the first vision sensor to the server side, and the server side analyzes the position information and picking path of the picked fruits and sends the position information and picking path to the processor.

In some optional embodiments, the picking robot includes a first sensor assembly for acquiring the position information of the picking robot, and the moving of the picking robot to the bin according to the position information of the bin in the step S14 may further include: and analyzing according to the position information of the cargo and the position information of the picking robot acquired by the first sensor assembly to obtain a second moving path of the picking robot, and moving the picking robot to the cargo according to the second moving path.

It is noted that the picking robot may include a processor for analyzing the second path of travel of the picking robot based on the position of the bin and the positional information of the picking robot acquired by the first sensor assembly. Or the processor sends the position information of the picking robot acquired by the first sensor assembly to the server side, and the server side analyzes the position information to obtain the first moving path of the picking robot and sends the first moving path to the processor.

In some optional embodiments, the picking robot includes a second vision sensor for acquiring image information of the boxed fruit, and the unloading of the loaded fruit to the warehouse by the picking robot in the step S15 may further include: and sending an unloading signal to the picking robot after the boxing is judged according to the image information of the boxed fruits acquired by the second vision sensor, and unloading the loaded fruits to a warehouse by the picking robot after the picking robot moves to the warehouse.

It should be noted that the picking robot may include a processor for generating an unloading signal according to the image information of the boxed fruit acquired by the second vision sensor to judge that the boxing is completed. Or the processor sends the image information of the boxed fruits acquired by the second vision sensor to the server side, and the server side judges that the boxing is finished, generates an unloading signal and sends the unloading signal to the processor.

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This specification is intended to cover any variations, uses, or adaptations of the specification following, in general, the principles of the specification and including such departures from the present disclosure as come within known or customary practice within the art to which the specification pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.

It should also be noted that 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 phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A picking robot, comprising:

the chassis mechanism moves to a picking area according to the position information of the picking area and the position information of the chassis mechanism acquired by the first sensor assembly, and the picking assembly picks fruits to be picked and then loads the fruits into the loading box body according to picking instructions.

2. The picking robot of claim 1, further comprising a control mechanism and a processor electrically connected to the control mechanism, the control mechanism being electrically connected to the chassis mechanism, the picking mechanism, and the binning mechanism;

3. A picking robot as claimed in claim 2, in which the chassis mechanism comprises a movable chassis frame, the first sensor assembly being provided on the chassis frame and being electrically connected to the processor, the chassis frame being electrically connected to the control mechanism;

4. The picking robot of claim 3, wherein the chassis mechanism further comprises a wheel assembly and a first drive assembly connected to the wheel assembly, the wheel assembly being disposed at the bottom of the chassis frame, the first drive assembly being electrically connected to the control mechanism;

5. The picking robot of claim 4, wherein the wheel assembly includes a plurality of tire sets including two tires disposed at a bottom of the chassis frame and a suspension connected between the two tires, the suspension being provided with leaf springs.

6. The picking robot of claim 2, wherein the first visual sensor is electrically connected to the processor and the picking assembly is electrically connected to the control mechanism;

7. The picking robot of claim 6, wherein the picking mechanism further includes a rail assembly and a second drive assembly disposed on the chassis mechanism, the rail assembly including a first rail disposed in a first direction, a second rail disposed in a second direction, and a third rail disposed in a third direction; the picking assembly is arranged on the first guide rail in a sliding manner, the first guide rail is arranged on the second guide rail in a sliding manner, the second guide rail is arranged on the third guide rail in a sliding manner, and the third guide rail is arranged on the chassis mechanism; the second driving assembly is connected with the picking assembly, the first guide rail and the second guide rail and is used for driving the picking assembly, the first guide rail and the second guide rail to move;

the control mechanism sends a second driving command to the second driving assembly according to the picking path, and the second driving assembly drives the first guide rail, the second guide rail and the picking assembly to move to corresponding positions according to the second driving command, so that the picking assembly picks fruits according to the picking path.

8. The picking robot of claim 7, wherein the picking assemblies are plural, the first vision sensor corresponds to the number of picking assemblies, and the number of rail assemblies corresponds to the number of picking assemblies; a first rail of one of the rail assemblies is provided with one of the picking assemblies, and one of the picking assemblies is provided with one of the first vision sensors.

9. A picking robot as claimed in claim 7, in which the second direction is set in a horizontal direction and the third direction is set in a vertical direction, the first direction having a set inclination to the horizontal.

10. The picking robot of claim 6, in which the picking assembly includes a race for connection with the bin mechanism, picking paws connected to ends of the race, and a bracket for connection with the chassis mechanism.

11. The picking robot of claim 10, wherein the picking gripper comprises a gripper base connected to an end of the race, a plurality of sets of grip jaws, and a third drive assembly; the gripping clamping piece is arranged on one side, away from the raceway, of the paw base, and the third driving component is connected with the gripping clamping piece and used for driving the gripping clamping piece to rotate or deform so as to clamp or loosen picked fruits to rotate; the control mechanism is electrically connected with the third driving component, the control mechanism sends a third driving instruction to the third driving component according to the picking instruction, and the third driving component drives the grabbing clamping piece to move according to the third driving instruction; or

The picking paw comprises a paw base connected to the end part of the roller path, a plurality of groups of flexible paws and a third driving component; the flexible claw is arranged on one side, far away from the raceway, of the claw base, and the third driving assembly is connected with the flexible claw and used for driving the flexible claw to rotate or swing towards a direction close to or far away from picked fruits so as to clamp or loosen the picked fruits; the control mechanism is electrically connected with the third driving assembly, the control mechanism sends a third driving instruction to the third driving assembly according to the picking instruction, and the third driving assembly drives the flexible paw to move according to the third driving instruction.

12. The picking robot of claim 2, wherein the binning mechanism comprises a conveyor belt assembly disposed at the chassis mechanism;

13. The picking robot of claim 12, wherein the conveyor assembly includes a first conveyor belt arranged in a horizontal direction, a second conveyor belt connected to the first conveyor belt and arranged in a vertical direction, a slide connected to the second conveyor belt and arranged in a horizontal direction, and a third conveyor belt connected to the slide and arranged in a vertical direction, the first conveyor belt being connected to the picking mechanism, the third conveyor belt being connected to and positioned above the loading bin;

14. The picking robot of claim 13, wherein the bin packing mechanism further comprises a turntable and flexible scrapers disposed on an inner wall of the turntable, the turntable is connected to a bottom of the third conveyor belt, the flexible scrapers and the turntable enclose a plurality of orifices for allowing picked fruits to fall into the loading bin, fruits transported from the third conveyor belt fall into the loading bin from the orifices, and the flexible scrapers rotate with the turntable to flatten the fruits.

15. A picking robot as claimed in claim 12, characterised in that the binning mechanism further comprises a fourth drive assembly, a fork connected to the fourth drive assembly and a second vision sensor for acquiring image information of the fruit inside the bin; the fork is arranged on the chassis mechanism in a lifting mode and is connected with the loading box body, the second vision sensor is electrically connected with the processor, and the fourth driving assembly is electrically connected with the control mechanism;

and the control mechanism sends a fourth driving instruction to the fourth driving component according to the loading information, and the fourth driving component drives the fork to descend and move according to the fourth driving instruction so as to drive the loading box body to descend.