CN108575317B

CN108575317B - Fruit picking equipment

Info

Publication number: CN108575317B
Application number: CN201711447858.2A
Authority: CN
Inventors: 纪华伟; 王云军; 丁晗琪
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2021-03-30
Anticipated expiration: 2037-12-27
Also published as: CN108575317A

Abstract

The invention discloses a fruit picking device, which comprises: the picking machine comprises a storage box body, a lifting mechanism, a mechanical arm, a picking executing mechanism, a positioning mechanism and a collecting pipe, wherein the lifting mechanism is installed on the storage box body, the mechanical arm is installed on the lifting mechanism, the picking executing mechanism is arranged on the mechanical arm, the positioning mechanism is arranged on the picking executing mechanism, and the picking executing mechanism is communicated with the storage box body through the collecting pipe. According to the fruit picking equipment, the fruits at different height positions can be picked through the synergistic effect of the mechanical arm, the lifting mechanism and the picking executing mechanism, and meanwhile, the picked fruits are identified and positioned through the positioning mechanism, so that the height of the picking executing mechanism can be adjusted conveniently, the equipment can pick the fruits at a proper position, and the practicability of the fruit picking equipment is effectively improved.

Description

Fruit picking equipment

Technical Field

The invention relates to the technical field of agricultural picking mechanical equipment, in particular to fruit picking equipment.

Background

At present, with the development of market economy, the fruit industry also enters a vigorous development stage. The increase of population and the improvement of urbanization level promote the increase of direct consumption of fruits. As the demand of consumers for fruit processing products is enlarged, the processing level of fruits is improved, and the industrial chain of fruits is prolonged, the consumption of fruit processing is remarkably increased. Therefore, the significance of research and development of agricultural robots, particularly fruit picking robots, is becoming increasingly important.

With the rapid development of computer technology and automatic control technology, artificial intelligence technology is also getting hotter and hotter. The robot slowly enters the field of agricultural production and is expected to replace workers to carry out efficient production work. Since the middle of the 80's of the 20 th century, a great deal of work was done on the research of picking robots in developed countries represented by japan, and various harvesting and picking robots having artificial intelligence, such as tomato picking robots, cucumber picking robots, watermelon picking robots, and citrus picking robots, were successfully tested. Although China has some gaps with foreign countries in this respect, certain success has been achieved.

In actual fruit production, the picking operation requires that the robot can replace workers to pick, so that the labor intensity can be reduced, the picking danger of the workers on the fruit trees can be eliminated, and the picking efficiency can be improved. However, in the actual picking process of the robot, the problems of identifying and positioning fruits and efficiently cutting the fruits need to be solved, one set of equipment can pick the fruits with different heights, and the picked fruits can be stored in the full-automatic picking process.

Disclosure of Invention

The invention aims to provide picking equipment which can be used for identifying and positioning and efficiently shearing fruits so as to realize mechanical picking instead of manual picking.

Another object of the present invention is to provide a fruit picking apparatus capable of picking fruits of different heights and storing the picked fruits, so as to facilitate the mechanical picking storage of fruits at different heights.

The invention discloses fruit picking equipment which comprises a storage box body, a lifting mechanism, a mechanical arm, a picking executing mechanism, a positioning mechanism and a collecting pipe, wherein the lifting mechanism is installed on the storage box body, the mechanical arm is installed on the lifting mechanism, the picking executing mechanism is arranged on the mechanical arm, the positioning mechanism is arranged on the picking executing mechanism, and the picking executing mechanism is communicated with the storage box body through the collecting pipe.

Furthermore, the picking actuating mechanism comprises two blades, two clamps, an electric actuating mechanism and a sleeve box; the two blades are respectively fixedly connected with the two clamps, the clamps are arranged on the electric actuating mechanism, the electric actuating mechanism is connected with the sleeve box, and the sleeve box is communicated with the storage box body through the collecting pipe.

The planes of the two blades are oppositely arranged, and the blades are arc blades.

Furthermore, the upper end of the sleeve is provided with a V-shaped opening for blocking the cut fruit stems from entering the collecting pipe.

Further, a first circular opening is provided in the bottom of the cartridge to allow the cartridge to communicate with the collection tube through the first circular opening.

Further, the positioning mechanism includes a visual recognition sensor and a distance sensor, and the distance sensor includes: a first distance sensor, a second distance sensor, a third distance sensor; the visual recognition sensor is mounted on the electric actuator, the first distance sensor and the second distance sensor are respectively mounted on the outer wall of the sleeve, and the third distance sensor is mounted on the inner wall of the sleeve.

Further, the storage box body comprises a drawer, a baffle plate and a second circular opening, and the second circular opening is communicated with the collecting pipe; the baffle is arranged between the second round opening and the lifting mechanism; the drawer is arranged under the baffle.

Furthermore, the fruit picking equipment further comprises a roller, a roller driving mechanism and a pressure sensor, wherein the roller is installed at the bottom of the drawer, the roller driving mechanism is installed inside the drawer, and the pressure sensor is installed inside the drawer and close to one side of the lifting mechanism.

Further, above-mentioned fruit picking equipment still includes the alarm bell, and above-mentioned alarm bell is installed in the outer wall of above-mentioned storage box.

Furthermore, above-mentioned fruit picking equipment still includes the flange, and the flange is used for picking actuating mechanism and arm fixed connection.

Furthermore, the fruit picking equipment further comprises a moving mechanism, and the moving mechanism is arranged below the storage box body.

The invention has the beneficial effects that:

1. according to the fruit picking machine, fruits at different height positions can be picked through the synergistic effect of the mechanical arm, the lifting mechanism and the picking actuating mechanism; simultaneously, still discern the location through positioning mechanism to the fruit of picking to adjustment picking actuating mechanism's height makes equipment can pick fruit in appropriate position, and the effectual practicality that improves this fruit picking equipment.

2. According to the fruit picking device, the V-shaped opening is formed in the upper end of the sleeve box, and the circular arc-shaped blade is adopted, so that fruit stems of fruits can be prevented from entering the collecting pipe through the sleeve box in the fruit picking process, and the fruits can be prevented from being damaged due to the fruit stems in the fruit collecting process.

3. According to the fruit picking machine, picked fruits are collected in the storage box body through the collecting pipe instead of the fruit recovery process through the mechanical arm or the picking executing mechanism, so that the picking time can be effectively shortened, and the picking efficiency is improved.

4. The picking equipment provided by the invention adopts the synergistic effect of the roller, the roller driving mechanism and the pressure sensor, so that the fruits collected by the collecting pipe are not accumulated at a fixed position of the storage box body, and the speed of the roller is reasonably controlled by the roller driving mechanism, so that the damage caused by friction is reduced in the rolling process of the fruits.

Drawings

FIG. 1 is a block diagram of a fruit picking apparatus according to the present invention;

FIG. 2 is a schematic diagram of the position of a distance sensor in a fruit picking apparatus according to the present invention;

FIG. 3 is a schematic view of a storage device in a fruit picking apparatus of the present invention;

FIG. 4 is a schematic view of the moving device in a fruit picking apparatus of the present invention;

wherein, 1-sleeve box, 2-blade, 3-clamp, 4-electric actuator, 5-visual recognition sensor, 6-flange, 7-baffle, 8-mechanical arm, 9-lifting mechanism, 10-storage box, 11-alarm bell, 12-moving mechanism, 13-drawer, 14-collecting pipe, 15-first distance sensor, 16-third distance sensor, 17-roller driving mechanism, 18-roller, 19-pressure sensor, 20-second round opening.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

Example one

Referring to fig. 1, the present embodiment provides a fruit picking apparatus, which includes a picking actuator, a mechanical arm 8, a positioning mechanism, a lifting mechanism 9, a storage box 5, and a collecting pipe 14, wherein the lifting mechanism is mounted on the storage box, the mechanical arm is mounted on the lifting mechanism, the picking actuator is disposed on the mechanical arm, the positioning mechanism is disposed on the picking actuator, and the picking actuator is communicated with the storage box through the collecting pipe.

The method comprises the following specific steps:

the picking actuating mechanism comprises a sleeve box 1, a blade 2, a clamp 3 and an electric actuating mechanism 4; the number of the blades is two, the number of the clamps 3 is also two, and the two blades are respectively fixed on the two clamps; the clamp 3 is mounted on the electric actuator, and the electric actuator is connected to the sleeve; wherein, above-mentioned two blade planes are placed relatively, and two blades all are circular arc blade.

The positioning mechanism, referring to fig. 1 and 2, includes a visual recognition sensor 5, a first distance sensor 15, a second distance sensor, and a third distance sensor 16; the vision recognition sensor is arranged on the electric actuating mechanism and is used for recognizing and positioning the position of the fruit to be picked and the posture of the fruit so as to adjust the position and cut the fruit stem by using the blade; the first distance sensor is arranged on the outer wall of the sleeve box, and the second distance sensor is arranged on the outer wall of the other side of the sleeve box corresponding to the first distance sensor; the third distance sensor is mounted on an inner wall of the cartridge at an end thereof adjacent to the robot arm.

And the lifting device 9 is connected with the mechanical arm 8, is arranged on the storage device and is used for adjusting the picking height according to the sensed distance and the visual identification result of the fruits.

The storage box 10 comprises a drawer 13 and a baffle 7, wherein an accommodating space is formed inside the storage box, and the drawer is arranged at the bottom of the storage box and is used for storing and collecting fruits flowing in through the collecting pipe; baffle 7 is installed on the storage box for separate elevation structure and collecting pipe, avoid flowing into the fruit of storage box through the collecting pipe and touch elevating gear and cause the fruit damage. Wherein, alarm bell 11 installs in the outer wall of above-mentioned storage box for the alarm of ringing the bell is reported to the police in order to indicate operating personnel to retrieve the fruit in the drawer when this fruit picking equipment stops to pick the operation.

The moving mechanism 12, referring to fig. 1 and 4, is installed under the storage box for moving a position to pick fruits, and adopts a track wheel commonly used in the market, so that it can be adapted to a complex situation of a mountain road.

And the flange 6 is used for fixedly connecting the picking actuating mechanism with the mechanical arm.

The specific implementation steps are as follows: 1. the fruit picking equipment is moved to the position near a fruit tree by using a moving mechanism, and the position of the fruit on the fruit tree and the position environment of the fruit are identified by a visual identification sensor; starting a lifting mechanism to adjust the picking height, preferably picking from bottom to top; 2. adjusting the mechanical arm according to the position height of the fruit, slowly approaching the sleeve box to the fruit, rotating the sleeve box to sleeve the fruit in the sleeve box, and sensing the distance between the fruit and the inner side of the sleeve box by using a first distance sensor, a second distance sensor and a third distance sensor to stop the operation of the mechanical arm after the fruit reaches a preset distance; 3. the fruit is pulled downwards to expose the fruit stem of the fruit, the electric actuating mechanism is started to enable the blade to cut the fruit stem, the fruit flows into the storage device through the collecting pipe, and the baffle plate can prevent the fruit from flowing out of the storage device to avoid the fruit from colliding with the lifting mechanism to cause damage; 4. when the drawer inside the storage box body is filled with fruits, the fruit picking equipment can stop operating, and meanwhile the alarm bell can give out prompt sounds to remind operators to recover the fruits in the drawer.

Fruit picking equipment in this embodiment can pick the fruit that is in different high positions through arm, elevating system and picking actuating mechanism's synergism, simultaneously, still discerns the location to the fruit of picking through positioning mechanism to adjustment picking actuating mechanism's height makes equipment can pick fruit in appropriate position, the effectual practicality that improves this fruit picking equipment. In addition, the picked fruits are collected in the storage box body through the collecting pipe instead of the fruit recovery process through the mechanical arm or the picking executing mechanism, so that the picking time can be effectively shortened, and the picking efficiency is improved.

Example two

The method comprises the following specific steps:

The two blades are arranged oppositely in plane and are arc-shaped; referring to fig. 2, a V-shaped opening is provided at the upper end of the sleeve to prevent the cut fruit stem from flowing into the collecting pipe to cause damage to the fruit; the lower extreme of box sets up first circular opening to communicate the collecting tube with the box through first circular opening, make the fruit after the cutting get into the collecting tube through first circular opening.

Wherein, the sleeve box is made of plastic preferably, and the inner wall of the sleeve box is made of rubber material so as to avoid the damage caused by the collision of fruits on the wall; the collecting pipe is a spring plastic pipe and the inner wall of the collecting pipe is smooth, so that the fruit is guaranteed not to be damaged in the collecting pipe stage on the basis that the fruit smoothly flows into the storage box body.

The storage box 10, referring to fig. 1 and 3, includes a drawer 13, a baffle 7, and a second circular opening 20; the drawer is arranged at the bottom of the accommodating space in the box body and is used for storing fruits flowing in through the collecting pipe; the second round opening is connected with the collecting pipe so that the fruits in the collecting pipe flow into the storage box body; baffle 7 is connected with above-mentioned storage box, and the baffle is installed between above-mentioned circular opening of second and elevating system for separate elevating system and collecting pipe, avoid flowing into the fruit of storage box through the collecting pipe and touch elevating system and cause the fruit damage. Wherein, alarm bell 11 installs in the outer wall of above-mentioned storage box for the alarm of ringing the bell is reported to the police in order to indicate operating personnel to retrieve the fruit in the drawer when this fruit picking equipment stops to pick the operation.

Further, referring to fig. 3, the fruit picking device further includes a roller 18, a roller driving mechanism 17 and a pressure sensor 19, the roller is mounted at the bottom of the drawer, the roller driving mechanism is mounted inside the drawer, and the pressure sensor is mounted at one side of the inside of the drawer close to the lifting mechanism and used for sensing the pressure of the drawer formed by the accumulation of fruits so as to stop picking operation in time and avoid picking fruits too much.

The specific implementation steps are as follows: 1. the fruit picking equipment is moved to the position near a fruit tree by using a moving mechanism, and the position of the fruit on the fruit tree and the position environment of the fruit are identified by a visual identification mechanism; starting a lifting mechanism to adjust the picking height, preferably picking from bottom to top; 2. adjusting the mechanical arm according to the position height of the fruit, slowly approaching the sleeve box to the fruit, rotating the sleeve box to enable the V-shaped opening plane to be perpendicular to the stem of the fruit, moving the sleeve box to enable the fruit to be sleeved in the sleeve box, and sensing the distance between the fruit and the inner side of the sleeve box by using the first distance sensor, the second distance sensor and the third distance sensor to stop the operation of the mechanical arm after the fruit reaches a preset distance; 3. rotating the sleeve box to enable the upper plane and the lower plane to be parallel, pulling down the fruits to expose stems of the fruits, starting the electric actuating mechanism to enable the blades to cut the stems, enabling the fruits to enter the collecting pipe through the first circular opening and flow into the storage box body, and enabling the baffle plate to prevent the fruits from flowing out of the storage box body and simultaneously preventing the fruits from colliding with the lifting mechanism to cause damage; 4. fruit that gets into the drawer through the circular opening of second can avoid fruit to pile up in the circular open-ended position of second through gyro wheel shift position, prevents that fruit from overflowing. 5. After the pressure that the pressure sensor response that sets up in the drawer reached a definite value, this equipment is picked to fruit can the stop operation, and the alarm bell can send the prompt tone simultaneously to remind operating personnel to retrieve the fruit in the drawer.

Fruit picking equipment in this embodiment can pick the fruit that is in different high positions through arm, elevating system and picking actuating mechanism's synergism, simultaneously, still discerns the location to the fruit of picking through positioning mechanism to adjustment picking actuating mechanism's height makes equipment can pick fruit in appropriate position, the effectual practicality that improves this fruit picking equipment.

The V-shaped opening is formed in the upper end of the sleeve box, and the arc-shaped blade is adopted, so that the fruit stems of the fruits can be prevented from entering the collecting pipe through the sleeve box in the fruit picking process, and the fruits can be prevented from being damaged due to the fruit stems in the fruit collecting process. In addition, the picked fruits are collected in the storage box body through the collecting pipe instead of the fruit recovery process through the mechanical arm or the picking executing mechanism, so that the picking time can be effectively shortened, and the picking efficiency is improved.

Adopt gyro wheel, roller drive mechanism and pressure sensor's synergism in the fruit picking equipment of this embodiment, can make the fruit of collecting through the collecting pipe not pile up the fixed position at the storage box, and through the speed of roller drive mechanism reasonable control gyro wheel, make fruit avoid the damage because of the friction causes at rolling in-process.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. Fruit picking equipment is characterized by comprising a storage box body, a lifting mechanism, a mechanical arm, a picking executing mechanism, a positioning mechanism and a collecting pipe, wherein the lifting mechanism is installed on the storage box body;

the picking actuating mechanism comprises two blades, two clamps, an electric actuating mechanism and a sleeve box; the two blades are respectively and fixedly connected with the two clamps, the clamps are arranged on the electric actuating mechanism, the electric actuating mechanism is connected with the sleeve box, and the sleeve box is communicated with the storage box body through the collecting pipe;

the positioning mechanism comprises a visual recognition sensor and a distance sensor, wherein the distance sensor comprises: a first distance sensor, a second distance sensor, a third distance sensor; the visual recognition sensor is mounted on the electric actuating mechanism, the first distance sensor and the second distance sensor are respectively mounted on the outer wall of the sleeve box, and the third distance sensor is mounted on the inner wall of the sleeve box.

2. A fruit picking apparatus as claimed in claim 1 in which the upper end of the sleeve is provided with a V-shaped opening for blocking the cut stems from entering the collection tube.

3. A fruit picking apparatus as claimed in claim 2, in which the bottom of the cartridge is provided with a first circular opening to allow the cartridge to communicate with the collection tube through the first circular opening.

4. A fruit picking apparatus as claimed in claim 1 in which the storage bin includes a drawer, a baffle, a second circular opening communicating with the collection tube; the baffle is arranged between the second round opening and the lifting mechanism; the drawer is mounted below the baffle.

5. The fruit picking apparatus of claim 4, further comprising a roller mounted at the bottom of the drawer, a roller driving mechanism mounted inside the drawer, and a pressure sensor mounted inside the drawer on a side adjacent to the lifting mechanism.

6. A fruit picking apparatus as claimed in claim 1, further comprising an alarm bell mounted to an outer wall of the storage tank.

7. The fruit picking apparatus of claim 1, further comprising a flange for fixedly connecting the picking actuator to the robotic arm.

8. A fruit picking apparatus as claimed in any of claims 1 to 7, further comprising a moving mechanism mounted below the storage bins.