CN108702930B

CN108702930B - Application method of intelligent pineapple harvesting robot

Info

Publication number: CN108702930B
Application number: CN201810780975.9A
Authority: CN
Inventors: 郑景文
Original assignee: Taizhou Plain Huangyan Octupole Fruits And Vegetables Specialty Co Operative Organization
Current assignee: Linyi Gaoxin Cultural Tourism Development Co ltd
Priority date: 2018-07-17
Filing date: 2018-07-17
Publication date: 2020-04-14
Anticipated expiration: 2038-07-17
Also published as: CN108702930A

Abstract

The intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm, a mechanical seat and a controller, wherein the harvesting manipulator comprises a harvesting device, a conveying device and a connecting ball head; when the pineapple harvesting machine is used, the controller is used for controlling the mechanical arm to drive the harvesting mechanical arm to move towards pineapples, the electric scissors are controlled to cut off the fruit stalks of the pineapples, then the swinging device is controlled to convey the pineapples to the conveying belt of the conveying device, and then the conveying belt is used for conveying the pineapples to a carriage of a motor vehicle, so that intelligent mechanical harvesting of the pineapples is implemented, and pineapple harvesting efficiency is improved.

Description

Application method of intelligent pineapple harvesting robot

Technical Field

The invention relates to a using method of pineapple harvesting equipment, in particular to a using method of an intelligent pineapple harvesting robot for harvesting pineapples.

Background

At present, the pineapple is harvested by manual picking, which has high labor intensity and low efficiency; an application method of an intelligent pineapple harvesting robot is a requirement of enterprises for reducing the labor intensity of farmers and improving the harvesting efficiency.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a using method of an intelligent pineapple harvesting robot, which is used for reducing the labor intensity of workers for picking pineapples and improving the pineapple harvesting efficiency.

The technical scheme adopted by the invention is as follows: the intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm, a mechanical seat and a controller, wherein the mechanical seat and the controller are mounted on a motor vehicle; the harvesting manipulator comprises a harvesting device, a conveying device and a connecting ball head, the harvesting device is connected with the conveying device, the mechanical arm is connected with the conveying device, the conveying device is connected with the connecting ball joint, the connecting ball joint is connected with a motor vehicle ball, and the conveying device and the harvesting manipulator are driven to move by the mechanical arm; the harvesting device comprises electric shears and a swinging device, the electric shears are connected with the swinging device, and the swinging device is connected with the conveying device; the electric scissors comprise front scissors, rear scissors, a spring and an electric pull rod, the swing device comprises a swing plate, a swing motor and a connecting plate, the front scissors are hinged with the rear scissors, the spring is connected with the front scissors and the rear scissors, a base of the electric pull rod is fixedly connected with the swing plate, the front scissors are connected with the base of the electric pull rod, and the rear scissors are connected with a driving rod of the electric pull rod; the swinging plate is connected with a swinging driving head of a swinging motor, and a base of the swinging plate is connected with the connecting plate; the pineapple is cut off by using the electric scissors, and the pineapple is conveyed to the conveying device by using the swinging device; the conveying device comprises a conveying belt, a conveying motor, a support, a driving wheel and a driven wheel, the support is connected with a motor vehicle through a connecting ball head, a mechanical arm is hinged with the support, the driving wheel and the driven wheel are connected with the support, a base of the conveying motor is connected with the support, a motor shaft of the conveying motor is connected with the driving wheel, the conveying belt is connected with the driving wheel and the driven wheel, and a connecting plate is connected with the support; conveying the pineapples to a conveying belt by using a swinging plate of a swinging device, and conveying the pineapples to a carriage of a motor vehicle by using the conveying belt; the controller comprises a camera sensor, a transverse proximity sensor, a longitudinal proximity sensor, a shear front sensor, a shear rear sensor, a shear sensing piece, an upper swing sensor, a lower swing sensor, a swing sensing piece, a starting switch, a stopping switch and an intelligent touch screen display; the camera sensor is arranged on the bracket, and the transverse proximity sensor and the longitudinal proximity sensor are arranged on the swinging plate and are used for detecting the position of the pineapple; the front sensor and the rear sensor of the scissors are arranged on the swinging plate, the scissors sensing piece is arranged on a driving rod of the electric pull rod and used for controlling the electric scissors to cut off the fruit handle of the pineapple, the upper swinging sensor and the lower swinging sensor are arranged on the connecting plate, and the swinging sensing piece is arranged on a swinging driving head of a swinging motor and used for controlling the swinging angle of the swinging plate; the controller, the starting switch, the stopping switch and the intelligent touch screen display are arranged in a cab of the motor vehicle; the controller is connected with the camera sensor, the transverse proximity sensor, the longitudinal proximity sensor, the front scissor sensor, the rear scissor sensor, the upper swing sensor, the lower swing sensor, the starting switch, the stopping switch and the intelligent touch screen display through control lines; in order to insert the fruit handle of the pineapple into the scissor opening of the electric scissors, the initial state of the electric scissors is as follows: the scissor opening of the electric scissors is in an open state; when the scissor opening of the electric scissors is in an opening state, the driving rod of the electric pull rod is in an extending state, and the scissor sensing piece on the driving rod is close to the scissor front sensor; in order to swing the harvested pineapples into the conveying belt, the swing device is in an initial state: the swinging device is in a non-swinging state, and when the swinging device is in the non-swinging state, a swinging plate of the swinging device is in a horizontal state; a swing sensing piece on a swing driving head of the swing motor is close to the upper swing sensor.

The use method of the intelligent pineapple harvesting robot comprises the following steps: when the pineapple harvester is used, a motor vehicle is driven into a pineapple field, the controller is used for controlling the mechanical arm to drive the harvesting mechanical arm to move to the upper side of a pineapple, and then the harvesting mechanical arm is controlled to move towards the pineapple, so that a scissor opening of the electric scissors is inserted into a position of a pineapple stem; meanwhile, the controller controls a conveying motor of the conveying device to drive the conveying belt to operate; when a transverse proximity sensor on the swinging plate of the harvesting manipulator approaches to the fruit stem of the pineapple, the transverse proximity sensor transmits a signal to a controller, and the controller controls the mechanical arm to drive the harvesting manipulator to ascend; when a longitudinal proximity sensor on a swinging plate of the harvesting manipulator is close to the pineapples, the scissor opening of the electric shears rises to the cutting position of the fruit handle, the longitudinal proximity sensor transmits a signal to the controller, and the controller controls the harvesting manipulator to stop rising; after the harvesting manipulator stops rising, the electric scissors of the controller cut off the fruit stalks of the pineapples, after the fruit stalks of the pineapples are cut off, the controller controls the swing motor of the swing device to drive the swing plate to swing upwards, the pineapples with the cut fruit stalks on the electric scissors flow to the conveying belt of the conveying device along the swing plate, and the conveying belt conveys the pineapples to the carriage of the motor vehicle; after the pineapples flow to the conveying belt, the controller controls the electric shears to reset to an initial state, and the shear openings of the electric shears are opened; meanwhile, the controller controls the swinging device to reset, and the swinging motor drives the swinging plate to swing downwards so as to reset the swinging plate to an initial state; the intelligent and mechanized harvesting of the pineapples is implemented by continuous circulation.

The invention has the beneficial effects that: the intelligent pineapple harvesting robot comprises a harvesting manipulator, a mechanical arm, a mechanical seat and a controller, wherein the harvesting manipulator comprises a harvesting device, a conveying device and a connecting ball head, the harvesting device is connected with the conveying device, the mechanical arm is connected with the conveying device, the conveying device is connected with the connecting ball head, the connecting ball head is connected with a motor vehicle ball, the harvesting device comprises electric scissors and a swinging device, and the conveying device comprises a conveying belt and a conveying motor; when the pineapple harvesting machine is used, the controller is used for controlling the mechanical arm to drive the harvesting mechanical arm to move towards pineapples, the electric scissors are controlled to cut off the fruit stalks of the pineapples, then the swinging device is controlled to convey the pineapples to the conveying belt of the conveying device, and then the conveying belt is used for conveying the pineapples to a carriage of a motor vehicle, so that intelligent mechanical harvesting of the pineapples is implemented, and pineapple harvesting efficiency is improved.

Drawings

Fig. 1 is a schematic structural diagram of an intelligent pineapple harvesting robot;

FIG. 2 is a schematic view of the harvesting apparatus;

fig. 3 is a schematic view of the structure of the conveyor belt.

Detailed Description

The invention is further described with reference to the following detailed description of embodiments and with reference to the accompanying drawings in which:

as shown in fig. 1, the structure schematic diagram of the intelligent pineapple harvesting robot, the structure schematic diagram of the harvesting device shown in fig. 2 and the structure schematic diagram of the conveyer belt shown in fig. 3, the intelligent pineapple harvesting robot comprises a harvesting manipulator 1, a mechanical arm 2, a mechanical seat 3 and a controller 4, wherein the mechanical seat 3 and the controller 4 are installed on a motor vehicle 5, the mechanical seat 3 is connected with the mechanical arm 2, and the mechanical arm 2 is connected with the harvesting manipulator 1; the harvesting manipulator 1 comprises a harvesting device 6, a conveying device 7 and a connecting ball joint 8, the harvesting device 6 is connected with the conveying device 7, the mechanical arm 2 is connected with the conveying device 7, the conveying device 7 is connected with the connecting ball joint 8, the connecting ball joint 8 is connected with a motor vehicle 9 ball, and the conveying device 7 and the harvesting manipulator 1 are driven to move by the mechanical arm 2; the harvesting device 6 comprises electric shears 9 and a swinging device 10, the electric shears 9 are connected with the swinging device 10, and the swinging device 10 is connected with the conveying device 7; the electric shears 9 comprises front shears 12, rear shears 13, springs 14 and electric pull rods 15, the swing device 10 comprises swing plates 16, swing motors 17 and connecting plates 18, the front shears 12 are hinged with the rear shears 13, the springs 14 are connected with the front shears 12 and the rear shears 13, bases of the electric pull rods 15 are fixedly connected with the swing plates 16, the front shears 12 are connected with the bases of the electric pull rods 15, and the rear shears 13 are connected with driving rods 19 of the electric pull rods 15; the swing plate 16 is connected with a swing driving head of a swing motor 17, and a base of the swing plate 16 is connected with a connecting plate 18; the pineapple 11 is cut off by the electric scissors 9, and the pineapple 11 is sent to the conveying device 7 by the swinging device 10; the conveying device 7 comprises a conveying belt 20, a conveying motor 21, a support 22, a driving wheel 23 and a driven wheel 24, the support 22 is connected with the motor vehicle 5 through a connecting ball 8, the mechanical arm 2 is hinged with the support 22, the driving wheel 23 and the driven wheel 24 are connected with the support 22, a base of the conveying motor 21 is connected with the support 22, a motor shaft of the conveying motor 21 is connected with the driving wheel 23, the conveying belt 20 is connected with the driving wheel 23 and the driven wheel 24, and a connecting plate 18 is connected with the support 22; the pineapples 11 are conveyed to a conveyer belt 20 by a swinging plate 16 of a swinging device 10, and the pineapples 11 are conveyed to a compartment 25 of the motor vehicle 5 by the conveyer belt 20; the controller 4 comprises a camera sensor 26, a transverse proximity sensor 27, a longitudinal proximity sensor 28, a front scissors sensor 29, a rear scissors sensor 30, a scissors sensing piece 31, an up-swing sensor 32, a down-swing sensor 33, a swing sensing piece 34, a start switch 35, a stop switch 36 and an intelligent touch screen display 37; the camera sensor 26 is arranged on the bracket 22, and the transverse proximity sensor 27 and the longitudinal proximity sensor 28 are arranged on the swinging plate 16 and are used for detecting the position of the pineapple 11; the scissors front sensor 29 and the scissors rear sensor 30 are arranged on the swinging plate 16, the scissors sensing piece 31 is arranged on the driving rod 19 of the electric pull rod 15 and is used for controlling the electric scissors 9 to cut the fruit handle 38 of the pineapple 11, the upper swinging sensor 32 and the lower swinging sensor 33 are arranged on the connecting plate 18, and the swinging sensing piece 34 is arranged on the swinging driving head of the swinging motor 17 and is used for controlling the swinging angle of the swinging plate 16; the controller 4, the start switch 35, the stop switch 36 and the smart touch screen display 37 are installed in a cab 39 of the motor vehicle 5; the controller 4 is connected to the imaging sensor 26, the lateral proximity sensor 27, the longitudinal proximity sensor 28, the front scissors sensor 29, the rear scissors sensor 30, the upward swing sensor 32, the downward swing sensor 33, the start switch 35, the stop switch 36, and the smart touch screen display 37 via control lines.

In order to insert the handle 38 of the pineapple 11 into the scissor opening 39 of the electric scissors 9, the electric scissors 9 are in the initial state: the scissor opening 39 of the electric shears 9 is in an open state; when the scissor opening 39 of the electric scissors 9 is in the open state, the driving rod 19 of the electric pull rod 15 is in the extended state, and the scissors sensing piece 31 on the driving rod 19 approaches the scissors front sensor 29.

In order to swing the harvested pineapples 11 into the conveyor belt 20, the swing device 10 is in an initial state: the swinging device 10 is in a non-swinging state, and when the swinging device 10 is in the non-swinging state, the swinging plate 16 of the swinging device 10 is in a horizontal state; a swing sensing member 34 on the swing drive head of the swing motor 17 is proximate the up-swing sensor 32.

In order to conveniently adjust the position of the camera sensor 26 and implement the positioning and harvesting of the pineapples 11 so as to facilitate the harvesting device 6 to harvest the pineapples 11, the camera sensor 26 of the controller 4 is provided with a spring connecting pipe 39, and the camera sensor 26 is connected with the bracket 22 of the conveying device 7 through the spring connecting pipe 39; the cameras of the camera sensor 26 are directed to the lateral proximity sensor 27 and the longitudinal proximity sensor 28; the detection head of the lateral proximity sensor 27 faces horizontally, and the detection head of the longitudinal proximity sensor 28 faces upward.

In order to convey the pineapples 11 harvested by the electric shears 9 to the conveying belt 20, the axis of an electric pull rod 15 of the electric shears 9 is parallel to the axis of a swing shaft of a swing motor 17 of the swing device 10; the axis of the conveying motor 21 of the conveying device 7 is parallel to the axes of the driving wheel 23 and the driven wheel 24, the driven wheel 24 is arranged below the driving wheel 23, and the axis of the swinging shaft of the swinging motor 17 is parallel to the axis of the driven wheel 24, so that when the swinging plate 16 of the swinging device 10 swings, the pineapples 11 flow onto the conveying belt 20 of the conveying device 7 along the swinging plate 16.

In order to convey the pineapple 11 to the compartment 25 of the motor vehicle 5, the conveyor belt 20 of the conveying device 7 comprises a conveyor belt 40, a supporting plate 41, a left rail 42 and a right rail 43; the supporting plate 41 is connected with the transmission belt 40, or the supporting plate 41 and the transmission belt 40 are integrally formed; the left and

right rails

42 and 43 are provided on both edges of the belt 40, respectively, and the left and

right rails

42 and 43 are connected to the belt 40, or the left and

right rails

42 and 43 are integrally formed with the belt 40.

In order to prevent the left rail 42 and the right rail 43 from obstructing the rotation of the transmission belt 40, the left rail 42 is provided with a left opening 44, and the left rail 42 is divided into a plurality of sections; the right rail 43 is provided with a right opening 45, and the right rail 43 is divided into a plurality of sections; the left opening 44 and the right opening 45 are directed to the belt face 46 of the conveyor belt 20.

In order to avoid the conveyor belt 20 from damaging the pineapples 11, the conveyor belt 20 of the conveyor device 7 is made of soft elastic material, and the soft elastic material comprises rubber; the belt surface 46 of the conveying belt 20 is provided with an anti-collision grid 47, the anti-collision grid 47 is formed by connecting a plurality of soft sharp strips 55, the soft sharp strips 55 are connected with the belt surface 46 of the conveying belt 20, or the soft sharp strips 55 are integrally formed with the belt surface 46 of the conveying belt 20, and the sharp ends of the soft sharp strips 55 are opposite to the belt surface 46 of the conveying belt 20; the conveying device 7 comprises a pineapple input port 48, a pineapple output port 49, a rotary fruit dropping valve 50 and a fruit guiding groove 51; the pineapple input port 48 of the conveying device 7 is positioned beside the driven wheel 24, the pineapple output port 49 of the conveying device 7 is positioned beside the driving wheel 23, and the pineapple output port 49 is positioned above the compartment 25 of the motor vehicle 5; the rotary fruit discharging valve 50 is arranged on the carriage 25, the fruit inlet 52 of the rotary fruit discharging valve 50 faces the pineapple outlet 49 of the conveying device 7, the rotary fruit discharging valve 50 is connected with the fruit guiding groove 51, and the fruit guiding groove 51 is connected with the bottom of the carriage 25.

When the pineapples 11 are collected, in order to reduce the bruising of the pineapples 11, the rotating blades 53 of the rotary lower fruit valve 50 are made of soft materials, the fruit guiding groove 51 is made of soft materials, and the soft materials of the rotating blades 53 and the fruit guiding groove 51 comprise rubber; the upper surface of the swing plate 16 is provided with a sponge layer 54, and two side edges of the swing plate 16 are provided with blocking nets 61 to prevent the pineapples 11 from falling out.

The use method of the intelligent pineapple harvesting robot comprises the following steps: when the electric pineapple harvester is used, the motor vehicle 5 is driven into a pineapple 11 field, the controller 4 is used for controlling the mechanical arm 2 to drive the harvesting manipulator 1 to move above the pineapple 11, then the harvesting manipulator 1 is controlled to move towards the pineapple 11, and the scissor opening 39 of the electric scissors 9 is inserted into the position of the handle 38 of the pineapple 11; meanwhile, the controller 4 controls the conveying motor 21 of the conveying device 7 to drive the conveying belt 20 to operate; when the transverse proximity sensor 27 on the swinging plate 16 of the harvesting manipulator 1 approaches the fruit handle 38 of the pineapple 11, the transverse proximity sensor 27 transmits a signal to the controller 4, and the controller 4 controls the mechanical arm 2 to drive the harvesting manipulator 1 to ascend; when the longitudinal proximity sensor 28 on the swinging plate 16 of the harvesting manipulator 1 approaches the pineapple 11, the scissor mouth 39 of the electric scissors 9 rises to the cutting position of the fruit stalk 38, the longitudinal proximity sensor 28 transmits a signal to the controller 4, and the controller 4 controls the harvesting manipulator 1 to stop rising; after the harvesting manipulator 1 stops rising, the electric scissors 9 of the controller 4 cut off the fruit stalks 38 of the pineapples 11, after the fruit stalks 38 of the pineapples are cut off, the controller 4 controls the swing motor 17 of the swing device 10 to drive the swing plate 16 to swing upwards, the pineapples 11 with the cut fruit stalks 38 on the electric scissors 9 flow to the conveying belt 20 of the conveying device 7 along the swing plate 16, and the conveying belt 20 conveys the pineapples 11 to the carriage 25 of the motor vehicle 5; after the pineapple 11 flows to the conveyer belt 20, the controller 4 controls the electric shears 9 to reset to the initial state, and the shear openings 39 of the electric shears 9 are opened; meanwhile, the controller 4 controls the swinging device 10 to reset, and the swinging motor 17 drives the swinging plate 16 to swing downwards, so that the swinging plate 16 is reset to an initial state; the intelligent and mechanized harvesting of the pineapples 11 is implemented by the continuous circulation.

In order to insert the scissor mouth 39 of the electric scissors 9 into the position of the handle 38 of the pineapple 11, when the mechanical arm 2 drives the harvesting manipulator 1 to move towards the pineapple 11, the camera sensor 26 on the bracket 22 transmits the position signal of the pineapple 11 to the intelligent touch screen display 37 of the controller 4, and the intelligent touch screen display 37 displays the position signal of the pineapple 11 on the intelligent touch screen display 37; when a driver touches the pineapple 11 on the intelligent touch screen display 37, the intelligent touch screen display 37 transmits the touch signal to the controller 4, the controller 4 controls the harvesting manipulator 1 to drive the electric shears 9 to move towards the pineapple 11, the shear mouth 39 of the electric shears 9 is inserted into the position of the handle 38 of the pineapple 11, when the shear mouth 39 of the electric shears 9 is inserted into the position of the handle 38 of the pineapple 11, and when the transverse proximity sensor 27 on the swinging plate 16 of the harvesting manipulator 1 approaches the handle 38 of the pineapple 11, the transverse proximity sensor 27 transmits the signal to the controller 4.

In order to cut the fruit stem 38 of the pineapple 11 by the electric scissors 9, when the scissors mouth 39 of the electric scissors 9 is inserted to the position of the fruit stem 38 of the pineapple 11 and the longitudinal approach sensor 28 approaches the pineapple 11, the controller 4 controls the driving rod 19 of the electric pull rod 15 to drive the rear scissors 13 to swing, and the front scissors 12 and the rear scissors 13 of the electric scissors 9 are used for cutting the fruit stem 38 of the pineapple 11; when the electric pull rod 15 drives the front scissors 12 to cut the fruit handle 38 of the pineapple 11, the driving rod 19 of the electric pull rod 15 drives the rear scissors arm 56 of the rear scissors 13 to swing in the counterclockwise direction against the elastic force of the spring 14, the rear scissors arm 56 drives the rear scissors 13 to swing in the counterclockwise direction, the front scissors 12 are fixed, and the front scissors 12 and the rear scissors 13 are used for cutting the fruit handle 38 of the pineapple 11; when the rear scissors arm 56 drives the rear scissors 13 to swing in the counterclockwise direction, the scissors sensing member 31 on the driving rod 19 moves along with the driving rod 19, when the fruit stem 38 of the pineapple 11 is cut, the scissors sensing member 31 on the driving rod 19 approaches the scissors rear sensor 30 on the swinging plate 16, the scissors rear sensor 30 transmits a signal to the controller 4, and the controller 4 controls the electric pull rod 15 to stop.

In order to drive the rear scissors 13 to swing by the electric pull rod 15, the rear scissors arm 56 is provided with a swing hole 57, the driving rod 19 is provided with a front driving head 58 and a rear driving head 59, the driving rod 19 penetrates through the swing hole 57 of the rear scissors arm 56, the swing hole 57 of the rear scissors arm 56 is positioned between the front driving head 58 and the rear driving head 59, and the driving rod 19 is movably matched and connected with the swing hole 57; when the electric pull rod 15 drives the rear scissor arm 56 of the rear scissor 13 to swing, the driving rod 19 of the electric pull rod 15 moves linearly and retracts, the rear driving head 59 of the driving rod 19 pulls the rear scissor arm 56 to swing in the counterclockwise direction, and the swinging hole 57 of the rear scissor arm 56 swings along the driving rod 19; the front scissor arm 60 of the front scissors 12 is fixedly connected to the swing plate 16, and the front scissors 12 do not swing.

In order to feed the harvested pineapples 11 onto the conveying belt 20 of the conveying device 7, after the electric scissors 9 cut off the fruit stalks 38 of the pineapples 11, the controller 4 controls the swing driving head of the swing motor 17 of the swing device 10 to drive the swing plate 16 to swing in the counterclockwise direction, when the swing sensing piece 34 on the swing driving head of the swing motor 17 approaches the lower swing sensor 33 on the connecting plate 18, the lower swing sensor 33 transmits a signal to the controller 4, the controller 4 controls the swing motor 17 to stop, so that the swing plate 16 forms an angle of 35-45 degrees with the horizontal plane, the pineapples 11 on the swing plate 16 flow to the conveying device 7 along the swing plate 16 and flow to the conveying belt 20 through the pineapple input port 48 of the conveying device 7.

In order to deliver the harvested pineapples 11 to a carriage 25 of the motor vehicle 5, the controller 4 controls the conveying motor 21 of the conveying device 7 to drive the conveying belt 20 to run, the conveying motor 21 drives the driving wheel 23 to rotate clockwise, and the driving wheel 23 drives the driven wheel 24 to rotate clockwise through a transmission belt 40 of the conveying belt 20; when the pineapples 11 flow to the transmission belt 40 of the transmission belt 20, the pineapples 11 are supported by the supporting plate 41 on the transmission belt 40, so that the pineapples 11 rotate clockwise along with the transmission belt 40 to ascend, and meanwhile, the left rail 42 and the right rail 43 of the transmission belt 20 surround the pineapples 11 to prevent the pineapples 11 from falling out; when the pineapples 11 rise to the pineapple output opening 49 of the conveying device 7 along with the transmission belt 40, the pineapples 11 flow to the compartment 25 of the motor vehicle 5 from the pineapple output opening 49 of the conveying device 7; when the pineapples 11 rise to the pineapple output port 49 of the conveying device 7 along with the conveying belt 40, the pineapples 11 fall onto the rotating blade 53 of the rotating lower fruit valve 50 from the pineapple output port 49, the rotating blade 53 rotates under the action of the gravity of the pineapples 11, the pineapples 11 rotate along with the rotating blade 53 to fall to the fruit guiding groove 51, and then the pineapples flow onto the compartment 25 of the motor vehicle 5 from the fruit guiding groove 51.

When the intelligent pineapple harvesting robot stops using, the stop switch 36 is pressed, the electric shears 9 is controlled by the controller to reset, the electric pull rod 15 is controlled by the controller 4 to drive the rear shear arm 56 to swing, when the shear sensing piece 31 on the driving rod 19 is close to the shear front sensor 29 on the swinging plate 16, the shear front sensor 29 transmits a signal to the controller 4, the electric pull rod 15 is controlled by the controller 4 to stop, and the electric shears 9 are reset to an initial state.

When the intelligent pineapple harvesting robot stops using, the stop switch 36 is pressed, the controller controls the swinging device 10 to reset, when the swinging sensing part 34 on the swinging driving head of the swinging motor 17 approaches the swinging sensor 32 on the connecting plate 18, the swinging sensor 32 transmits a signal to the controller 4, and the controller 4 controls the swinging motor 17 to stop, so that the swinging plate 16 resets to an initial state.

Claims

1. The intelligent pineapple harvesting robot comprises a harvesting manipulator (1), a mechanical arm (2), a mechanical seat (3) and a controller (4), wherein the mechanical seat (3) and the controller (4) are mounted on a motor vehicle (5), the mechanical seat (3) is connected with the mechanical arm (2), and the mechanical arm (2) is connected with the harvesting manipulator (1); the harvesting manipulator (1) comprises a harvesting device (6), a conveying device (7) and a connecting ball head (8), the harvesting device (6) comprises electric shears (9) and a swinging device (10), the electric shears (9) comprise front shears (12), rear shears (13), springs (14) and electric pull rods (15), the swinging device (10) comprises a swinging plate (16), a swinging motor (17) and a connecting plate (18), and the conveying device (7) comprises a conveying belt (20), a conveying motor (21), a support (22), a driving wheel (23) and a driven wheel (24); the controller (4) comprises a camera sensor (26), a transverse proximity sensor (27), a longitudinal proximity sensor (28), a front scissors sensor (29), a rear scissors sensor (30), a scissors sensing piece (31), an upward swinging sensor (32), a downward swinging sensor (33), a swinging sensing piece (34), a starting switch (35), a stopping switch (36) and an intelligent touch screen display (37); the initial state of the electric shears (9) is as follows: the scissor edge (39) of the electric scissors (9) is in an open state, and the initial state of the swing device (10) is as follows: the swinging device (10) is in a non-swinging state; the method is characterized in that: the use method of the intelligent pineapple harvesting robot comprises the following steps: when the electric pineapple harvester is used, a motor vehicle (5) is driven into a pineapple (11) field, the controller (4) is used for controlling the mechanical arm (2) to drive the harvesting manipulator (1) to move above the pineapple (11), then the harvesting manipulator (1) is controlled to move towards the pineapple (11), and a scissor opening (39) of the electric scissor (9) is inserted into a position of a handle (38) of the pineapple (11); meanwhile, the controller (4) controls a conveying motor (21) of the conveying device (7) to drive the conveying belt (20) to operate; when a transverse proximity sensor (27) on a swinging plate (16) of the harvesting manipulator (1) approaches a fruit handle (38) of the pineapple (11), the transverse proximity sensor (27) transmits a signal to a controller (4), and the controller (4) controls a mechanical arm (2) to drive the harvesting manipulator (1) to ascend; when a longitudinal proximity sensor (28) on a swinging plate (16) of the harvesting manipulator (1) approaches a pineapple (11), a scissor opening (39) of an electric scissor (9) rises to the cutting position of a fruit handle (38), the longitudinal proximity sensor (28) transmits a signal to a controller (4), and the controller (4) controls the harvesting manipulator (1) to stop rising; after the harvesting manipulator (1) stops rising, the electric scissors (9) of the controller (4) cut off the fruit handle (38) of the pineapple (11), after the fruit handle (38) of the pineapple is cut off, the controller (4) controls the swing motor (17) of the swing device (10) to drive the swing plate (16) to swing upwards, the pineapple (11) with the cut fruit handle (38) on the electric scissors (9) flows to the conveying belt (20) of the conveying device (7) along the swing plate (16), and the conveying belt (20) conveys the pineapple (11) to the compartment (25) of the motor vehicle (5); after the pineapples (11) flow to the conveying belt (20), the controller (4) controls the electric scissors (9) to reset to an initial state, and the scissor openings (39) of the electric scissors (9) are opened; meanwhile, the controller (4) controls the swinging device (10) to reset, and the swinging motor (17) drives the swinging plate (16) to swing downwards so that the swinging plate (16) is reset to an initial state; the intelligent mechanical harvesting of the pineapples (11) is implemented by the continuous circulation.

2. The use method of the intelligent pineapple harvesting robot according to claim 1, characterized in that: when the mechanical arm (2) drives the harvesting manipulator (1) to move towards the pineapple (11), the camera sensor (26) on the support (22) transmits a position signal of the pineapple (11) to the intelligent touch screen display (37) of the controller (4), and the intelligent touch screen display (37) displays the position signal of the pineapple (11) on the intelligent touch screen display (37); when a driver touches the pineapple (11) on the intelligent touch screen display (37), the intelligent touch screen display (37) transmits the touch signal to the controller (4), the controller (4) controls the harvesting manipulator (1) to drive the electric shears (9) to move towards the pineapple (11), the shear mouth (39) of the electric shears (9) is inserted into the position of the fruit handle (38) of the pineapple (11), when the shear mouth (39) of the electric shears (9) is inserted into the position of the fruit handle (38) of the pineapple (11), the transverse proximity sensor (27) on the swinging plate (16) of the harvesting manipulator (1) is close to the fruit handle (38) of the pineapple (11), and the transverse proximity sensor (27) transmits the signal to the controller (4).

3. The use method of the intelligent pineapple harvesting robot according to claim 2, characterized in that: when the scissor opening (39) of the electric scissors (9) is inserted to the position of the fruit handle (38) of the pineapple (11) and the longitudinal approach sensor (28) approaches the pineapple (11), the controller (4) controls the driving rod (19) of the electric pull rod (15) to drive the rear scissors (13) to swing, and the front scissors (12) and the rear scissors (13) of the electric scissors (9) are utilized to cut off the fruit handle (38) of the pineapple (11).

4. The use method of the intelligent pineapple harvesting robot according to claim 3, wherein: when the electric pull rod (15) drives the front scissors (12) to cut the fruit handles (38) of the pineapples (11), the driving rod (19) of the electric pull rod (15) drives the rear scissors arm (56) of the rear scissors (13) to swing in the anticlockwise direction against the elastic force of the spring (14), the rear scissors arm (56) drives the rear scissors (13) to swing in the anticlockwise direction, the front scissors (12) are fixed, and the front scissors (12) and the rear scissors (13) are used for cutting the fruit handles (38) of the pineapples (11); when the rear scissors arm (56) drives the rear scissors (13) to swing in the anticlockwise direction, the scissors sensing piece (31) on the driving rod (19) moves along with the driving rod (19), when the fruit handle (38) of the pineapple (11) is cut off, the scissors sensing piece (31) on the driving rod (19) approaches the scissors rear sensor (30) on the swinging plate (16), the scissors rear sensor (30) transmits a signal to the controller (4), and the controller (4) controls the electric pull rod (15) to stop.

5. The use method of the intelligent pineapple harvesting robot according to claim 4, wherein the robot comprises: the rear scissor arm (56) is provided with a swinging hole (57), the driving rod (19) is provided with a front driving head (58) and a rear driving head (59), the driving rod (19) penetrates through the swinging hole (57) of the rear scissor arm (56), the swinging hole (57) of the rear scissor arm (56) is positioned between the front driving head (58) and the rear driving head (59), and the driving rod (19) is movably matched and connected with the swinging hole (57); when the electric pull rod (15) drives the rear scissor arm (56) of the rear scissor (13) to swing, the driving rod (19) of the electric pull rod (15) linearly moves to retract, the rear driving head (59) of the driving rod (19) pulls the rear scissor arm (56) to swing in the counterclockwise direction, and the swinging hole (57) of the rear scissor arm (56) swings along the driving rod (19).

6. The use method of the intelligent pineapple harvesting robot according to claim 5, wherein the robot comprises: after the electric scissors (9) cut off the fruit handle (38) of the pineapple (11), the controller (4) controls the swing driving head of the swing motor (17) of the swing device (10) to drive the swing plate (16) to swing in the counterclockwise direction, when the swing sensing part (34) on the swing driving head of the swing motor (17) approaches the lower swing sensor (33) on the connecting plate (18), the lower swing sensor (33) transmits a signal to the controller (4), the controller (4) controls the swing motor (17) to stop, so that the swing plate (16) and the horizontal plane form an angle of 35-45 degrees, the pineapple (11) on the swing plate (16) flows to the conveying device (7) along the swing plate (16), and flows to the conveying belt (20) through the pineapple input port (48) of the conveying device (7).

7. The use method of the intelligent pineapple harvesting robot according to claim 6, wherein the robot comprises: the controller (4) controls a conveying motor (21) of the conveying device (7) to drive the conveying belt (20) to operate, the conveying motor (21) drives the driving wheel (23) to rotate clockwise, and the driving wheel (23) drives the driven wheel (24) to rotate clockwise through a transmission belt (40) of the conveying belt (20); when the pineapples (11) flow to the transmission belt (40) of the transmission belt (20), the pineapples (11) are supported by the supporting plate (41) on the transmission belt (40), so that the pineapples (11) rotate clockwise along with the transmission belt (40) to rise, and meanwhile, the pineapples (11) are surrounded by the left rail (42) and the right rail (43) of the transmission belt (20), so that the pineapples (11) are prevented from falling out; when the pineapples (11) rise to the pineapple output opening (49) of the conveying device (7) along with the transmission belt (40), the pineapples (11) flow to the compartment (25) of the motor vehicle (5) from the pineapple output opening (49) of the conveying device (7).

8. The use method of the intelligent pineapple harvesting robot according to claim 7, wherein: when the pineapples (11) rise to a pineapple output port (49) of the conveying device (7) along with the conveying belt (40), the pineapples (11) fall onto a rotating blade (53) of the rotating lower pineapple valve (50) from the pineapple output port (49), the rotating blade (53) rotates under the action of the gravity of the pineapples (11), the pineapples (11) rotate along with the rotating blade (53) and fall into the fruit guiding groove (51), and then the pineapples flow onto a carriage (25) of the motor vehicle (5) from the fruit guiding groove (51).

9. The use method of the intelligent pineapple harvesting robot according to claim 8, wherein: when intelligence pineapple harvesting robot stopped using, press stop switch (36), controller control electric shears (9) reset, controller (4) control electric pull rod (15) drive back scissors arm (56) swing, when scissors inductor (31) on actuating lever (19) are close pendulum board (16) and go up preceding sensor (29) of scissors, preceding sensor (29) of scissors transmit its signal for controller (4), controller (4) control electric pull rod (15) stop, electric shears (9) reset initial condition.

10. The use method of the intelligent pineapple harvesting robot according to claim 9, wherein: when intelligence pineapple harvesting robot stop to use, press stop switch (36), controller control pendulum changes device (10) and resets, when pendulum changes sensing part (34) on the pendulum change driving head of pendulum change motor (17) is close pendulum sensor (32) on connecting plate (18), pendulum sensor (32) give controller (4) with its signal transmission, controller (4) control pendulum change motor (17) stop, make pendulum change board (16) reset to initial condition.