CN112790005A

CN112790005A - Target identification system for fruit and vegetable picking robot

Info

Publication number: CN112790005A
Application number: CN202110013034.4A
Authority: CN
Inventors: 邢二江
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-06
Filing date: 2021-01-06
Publication date: 2021-05-14

Abstract

The invention discloses a target recognition system for a fruit and vegetable picking robot, which comprises a movable base, a screening box, a fruit and vegetable recognition chamber and a bearing plate, wherein the screening box is installed at the top of the movable base, a hydraulic lifting rod is welded at the top of the movable base, an extension rod is slidably installed at the top of the hydraulic lifting rod, two groups of cross rods are installed on the surface of the extension rod, a shearing picking box is installed at one end of each cross rod through a penetrating bolt, a control plate is installed on the surface of one side of the shearing picking box, the fruit and vegetable recognition chamber is installed inside the shearing picking box, and the bearing plate is placed inside each of a first collecting drawer, a second collecting drawer and a third collecting drawer. According to the fruit and vegetable target identification device, the fruit and vegetable identification chamber is arranged, and the gas components on the surfaces of the fruits and vegetables to be picked are analyzed, so that whether the fruits and vegetables are mature or not is judged, the purpose of identifying and judging the targets of the fruits and vegetables is achieved, and unnecessary fruit and vegetable waste caused by picking errors is avoided.

Description

Target identification system for fruit and vegetable picking robot

Technical Field

The invention relates to the technical field of fruit and vegetable picking, in particular to a target recognition system for a fruit and vegetable picking robot.

Background

Along with the optimization of the dietary structure in China, the demands of people on fruits and vegetables are gradually diversified, and the demand scale is gradually increased, so that the development of the fruit and vegetable planting industry in China is promoted, the fruit and vegetable planting industry is rapidly developed and optimized, meanwhile, other related industries are forced to correspondingly optimize and modify, so as to adapt to the development demands of the fruit and vegetable planting industry, wherein the fruits and vegetables need to be picked, processed and sold in time after being mature, the fruits and vegetables are prevented from being excessively mature and even rotten in a plantation after the mature period, and the picking workload is large because the fruits and vegetables are generally mature in a single centralized way, the picking demands cannot be met by simply picking the fruits and the vegetables, so that the problem of insufficient picking labor force is well solved by the picking robot.

The existing defects are as follows:

1. the reference CN109729320A discloses a real-time object recognition monitoring platform, "including: the snore detecting equipment is arranged at the position of the outpatient building corridor and used for extracting the snore signal of the sound at the position of the outpatient building corridor so as to determine the corresponding snore grade based on the maximum amplitude of the snore signal; and the camera shooting triggering device is respectively connected with the snore detection device and the corridor camera shooting device and is used for triggering the corridor camera shooting device to shoot the corridor position of the outpatient building so as to obtain a corridor field image when the received snore level is greater than or equal to a preset level threshold value. The real-time object recognition monitoring platform is convenient to monitor and simple to operate. When the snore is too high in the corridor position of the outpatient building, bed body identification operation on the position is executed, and the order of the corridor of the outpatient building is effectively maintained by adopting an automatic mode, so that the order of the corridor of the outpatient building can be effectively maintained under the condition of reducing the labor cost, but the target identification mode has higher requirement on the precision of an instrument, needs to judge the sound, is easily interfered by other sounds, causes higher cost and insufficient accuracy of the device, and is inconvenient to popularize and use;

2. reference CN210298571U discloses a manipulator mechanism of a tomato picking robot, which comprises a manipulator arm and a picking hand; the picking hand comprises a paw and a receiving hopper; the gripper is fixedly connected with the fixed plate through the mounting seat, a cavity is formed in the mounting seat, a clamping structure is arranged in the cavity, and the clamping structure comprises a first clamping block, a second clamping block, a first rack, a second rack and a clamping gear; the gripper comprises a first clamping arm and a second clamping arm, the first clamping arm is connected with the front end of the first clamping block, and the second clamping arm is connected with the front end of the second clamping block; the front end of the first clamping arm is provided with a notch, a blade is arranged in the notch, and the front end of the second clamping arm is provided with a cutter groove corresponding to the blade. The utility model provides a manipulator mechanism of tomato picking robot, which is matched with the tomato picking robot to assist the picking robot to finish the picking work of the tomato together, but lacks a corresponding classification screening device, so that the fruits and vegetables picked by the device are mixed together, thereby increasing the subsequent screening work load, prolonging the subsequent processing procedures and reducing the processing efficiency;

3. reference CN209709047U discloses a lithium electric tool battery pack with machine identification function, "which comprises an outer shell, the top fixedly connected with top cap of shell, the top swing joint of top cap has a pull frame, the bottom of top cap just is located the inside fixedly connected with butt joint frame of shell, two equal fixedly connected with supports the dish between the opposite side of butt joint frame. This take machine recognition function lithium electricity instrument battery package, be fixed knot structure through setting up battery package and lower mounting bracket, and the mounting bracket is through outer support frame down, interior support frame and the horizontal impulsive force that the spring offset the outside and give, and the outside of mounting bracket is supported and spacing by butt joint frame and support dish down, and then prevent to drop because of the accident and lead to the battery package to receive the damage, the good effect of protectiveness has been reached, thereby effectually solved when lithium electricity instrument battery package generally uses probably to lead to the relatively poor problem of its security because of not having protector, on the basis of realizing providing spacing protection to the device, do not provide corresponding structure of being convenient for to acquire, it is comparatively inconvenient to lead to the taking of device to change.

Disclosure of Invention

The invention aims to provide a target recognition system for a fruit and vegetable picking robot, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a target recognition system for a fruit and vegetable picking robot comprises a movable base, a screening box, a fruit and vegetable recognition chamber, a material receiving box and a bearing plate, wherein the screening box is installed at the top of the movable base, a hydraulic lifting rod is welded at the top of the movable base and is positioned on one side of the screening box, extension rods are slidably installed at the top of the hydraulic lifting rod, two groups of cross rods are symmetrically installed on the surface of each extension rod, one ends, far away from the extension rods, of the cross rods are provided with shearing picking boxes through penetrating bolts, one side of each shearing picking box is provided with a control panel, the fruit and vegetable recognition chamber is installed inside the shearing picking boxes, an air outlet pipe extending to the outside of the shearing picking boxes is arranged at the bottom of each fruit and vegetable recognition chamber, the material receiving box is installed at the bottom of the shearing picking boxes through penetrating bolts, and the front surface of the material receiving box protrudes, the internally mounted of screening case has the conveying to screen the pipe, the surface connection that the conveying screened the pipe has three group's material introducing plates, and the one end that draws the material introducing plate extends into the inside that the conveying screened the pipe, the baffle of arranging about three groups is installed to the inner wall of screening case, the top surface slidable mounting of three group's baffles has collection drawer, No. two collection drawers and No. three collection drawers, the handle is all installed in the front of collecting drawer, No. two collection drawers and No. three collection drawers, and the handle is located the outside of screening case, the back of collecting drawer, No. two collection drawers and No. three collection drawers all is equipped with the circular shape transfer mouth of four groups, the board of accepting has all been placed to the inside of collecting drawer, No. two collection drawers and No. three collection drawers.

Preferably, a miniature negative pressure fan is installed inside the fruit and vegetable recognition chamber, a gas pipe is installed on the front surface of the fruit and vegetable recognition chamber, the gas pipe extends to the outside of the shearing and picking box, one end of the gas pipe, which is far away from the miniature negative pressure fan, is hermetically connected with a suction funnel, the suction funnel is fixed on the front surface of the shearing and picking box, the suction funnel is positioned above the material receiving box, a filter plate is installed on the inner wall of the suction funnel, a reaction bottle is installed at the bottom inside the shearing and picking box, potassium permanganate solution is contained inside the reaction bottle, a conveying hose is installed at the bottom of the gas pipe in a sealing manner, the bottom of the conveying hose extends to the inside of the reaction bottle, the bottom of the conveying hose is close to the, and the inside of one-way gas pipe is equipped with the check valve, and the input of one-way gas pipe is close to the roof position of reaction flask, and the output of one-way gas pipe extends to the bottom of shearing the picking case.

Preferably, a screening dish and No. two screening dishes are installed to the inner wall of conveying screening pipe, and No. two screening dishes are located the below of a screening dish, and No. three screening dishes are installed to the inner wall of conveying screening pipe, and No. three screening dishes are located the below of No. two screening dishes, and the circular shape screening hole is all installed to the inside of a screening dish, No. two screening dishes and No. three screening dishes, and the diameter of screening hole reduces in proper order, and the elastoplast strip is installed to the inner wall of screening hole.

Preferably, the top of the bearing plate is provided with a U-shaped limiting frame, the limiting frame is made of sponge, and the surfaces of the two sides of the bearing plate are provided with pull ropes.

Preferably, electromagnetic relay is all installed to the both sides inner wall top position of shearing picking case, and the internally mounted of shearing picking case has two sets of scissors handle of a knife that alternately stack, and the inside of shearing picking case is extended in the front of scissors handle of a knife, and the scissors handle of a knife is located the top of breathing in the funnel, and the blade is equipped with on the surface of scissors handle of a knife, and the surface mounting of scissors handle of a knife has coupling spring, and coupling spring is located the rear of blade, and the surface of scissors handle of a knife encircles and installs the magnet ring, and the magnet ring is located coupling spring's.

Preferably, the four corners of the bottom of the movable base are provided with movable wheels.

Preferably, the control panel internally mounted has perspective window and control button, and control button is located the rear of perspective window, and control button passes through wire and hydraulic lifting rod, electromagnetic relay, miniature negative-pressure air fan electric connection, and the position of perspective window corresponds with the mounted position of reaction flask.

Preferably, the top of the material receiving box is provided with a feeding hole, the bottom of the material receiving box is provided with a discharging hole, the inner walls of the two sides of the material receiving box are respectively provided with a shaft, the inner walls of the two sides of the material receiving box are respectively provided with an inclined guide plate through the shaft, the guide plates are made of foam plates, the inner bottom wall of the material receiving box is provided with two groups of compression springs, and the compression springs are respectively positioned below the guide plates and on the two sides of the discharging hole.

Preferably, four groups of material guiding pipes are installed inside the material guiding plate, and the tail ends of the material guiding pipes correspond to the conveying openings one by one.

Preferably, the device has the following publishing steps:

s1, when the device is used for picking corresponding fruits and vegetables, after the device is moved to a designated picking point, the hydraulic lifting rod is started, the extension rod is lifted to a picking height, the extension rod is rotated, so that the horizontal plane of the cross rod is driven to shift, the shearing and picking box at the bottom of the cross rod is close to the position near the fruits and vegetables to be picked, then the miniature negative pressure fan is started, the negative pressure wind generated by the miniature negative pressure fan is utilized to absorb the gas near the surfaces of the fruits and vegetables through the air suction funnel through the air delivery pipe, and the gas is delivered into the reaction bottle, in view of that the olefin gas is released after the fruits and vegetables are ripe, the olefin substance has certain reducibility, the potassium permanganate solution stored in the reaction bottle has strong oxidizability, the potassium permanganate solution and the purple potassium permanganate solution can generate oxidation-reduction reaction in the reaction bottle, and the purple potassium permanganate solution, the aim of target identification is achieved, and the fruits and vegetables which are not mature yet and are developing are prevented from being picked;

s2, observing the fading of the solution in the reaction bottle through a perspective window to obtain a positive result of fruit and vegetable ripening, starting a control button to enable an electromagnetic relay to be electrified to form a man-made magnet, wherein the magnet has a certain magnetic attraction effect, and the direction of a magnetic induction line emitted by a magnetic pole on the surface of a magnet ring is distributed in a mirror image with the direction of the magnetic induction line electrified by the electromagnetic relay, so that the two groups of scissor handles are mutually repellent, and then the handle stems of the fruits and vegetables are cut and isolated by blades on the surfaces of the two groups of scissor handles, so that the picking operation of the fruits and vegetables is completed;

s3, after picking is completed, fruits and vegetables are stored for a short time through the material receiving box, then the extension rod is rotated, the material receiving box is rotated to be right above the conveying and screening pipe and then falls into the conveying and screening pipe through the discharge port, then after three layers of screening discs with sequentially reduced diameters are arranged, the fruits and vegetables with larger sizes can be conveyed into the first collection drawer through the material guiding pipe, the fruits and vegetables with the relative next sizes are conveyed into the second collection drawer through the material guiding pipe, the fruits and vegetables with the smallest sizes are conveyed into the third collection drawer through the material guiding pipe, primary screening after picking is achieved, and workload of later-stage screening is reduced;

s4, not unidimensional fruit vegetables get into corresponding collection drawer inside back and fall on the surface of accepting the board, guide and separation effect through the spacing frame of U type, can make the inside fruit vegetables that get into the spacing frame can divide row, independently discharge and preserve, can enough avoid the mutual collision in the transportation process, protect fruit vegetables epidermis integrality, also can realize putting in order of fruit vegetables, be convenient for subsequent packing of taking, treat to accept the board surface fruit vegetables and take over full back, drag the stay cord and will accept the inside that the board was taken off the collection drawer, so that to place empty accepting board again, carry out accepting of next round and put work

Compared with the prior art, the invention has the beneficial effects that:

1. the invention is provided with the fruit and vegetable recognition chamber, when the fruit and vegetable to be picked needs target judgment, the air suction funnel is aligned to the surface of the fruit and vegetable, then the micro negative pressure fan is started, the negative pressure wind power generated by the micro negative pressure fan can be used for pumping the gas on the surface of the fruit and vegetable into the air delivery pipe and shunting the gas to the inside of the reaction bottle through the conveying hose, the filter plate can intercept solid impurities and other foreign matters in the air to avoid the blockage of the pipeline, because the port at the tail end of the conveying hose is positioned downwards, the pumped gas can move from bottom to top in the reaction bottle, so that the reaction time is sufficient, the obtained detection result is relatively accurate, in view of the fact that the components in the air are mainly oxygen, carbon dioxide and other gases without reducibility, and the fruits and vegetables can release olefin gases with reducibility outwards after being mature, when the pumped gas contains olefin gases, can take place redox reaction with the potassium permanganate solution that has strong oxidizability in the reaction bottle and make it fade into colorless solution from purple solution, consequently can judge whether ripe fruit vegetables of treating picking through the change of observing the inside solution color of reaction bottle, in order to avoid picking immature and the fruit vegetables that are growing and developing, cause and pick the error, other gas of reaction bottle inside later and the carbon dioxide gas that produces among the redox reaction process can shift to the outside of reaction bottle through one-way gas-supply pipe, avoid the inside gas of reaction bottle to fill excessively and cause the fried of bottle and split, wherein the cost of potassium permanganate solution is lower and whether can realize target identification through the color fading and judge, the use cost and the recognition accuracy of device have obtained the assurance, convenient using widely.

2. According to the invention, the screening box is arranged, picked fruits and vegetables are fed into the conveying and screening pipe, then the fruits and vegetables move along the conveying and screening pipe under the action of gravity and sequentially pass through the three layers of screening disks with the diameters being reduced in sequence, the fruits and vegetables with larger sizes can be conveyed into the first collection drawer through the material guiding pipe, the fruits and vegetables with the next sizes are conveyed into the second collection drawer through the material guiding pipe, the fruits and vegetables with the smallest sizes are conveyed into the third collection drawer through the material guiding pipe, the primary screening after picking is realized, the workload of later screening is reduced, in the process, the elastic plastic strips in the screening holes in the screening disks can bounce rapidly after the fruits and vegetables with smaller sizes are accommodated, the flexible supporting effect is provided for the subsequent fruits and vegetables, and meanwhile, the attached branches and leaves on the surfaces of the fruits and vegetables are prevented from entering the interior of the next layer of screening space, so that the primary cleaning effect on the surfaces of, after corresponding classified collection is carried out through three groups of collection drawer auxiliary devices, make things convenient for the processing of staff pertinence, and then improve the economic value of fruit vegetables.

3. According to the fruit and vegetable collecting drawer, the bearing plates are arranged, fruits and vegetables entering the limiting frames can be separately and independently discharged and stored through the guiding and separating effects of the U-shaped limiting frames, after the fruits and vegetables on the surfaces of the bearing plates are fully received, the pull ropes are pulled up, the bearing plates are pulled out of the collecting drawer, the empty bearing plates can be placed again, the bearing and placing work of the next round is carried out, and the fruit and vegetable collecting drawer is convenient to use.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a collection drawer configuration of the present invention;

FIG. 3 is a schematic cross-sectional view of a screening box according to the present invention;

FIG. 4 is a schematic structural view of a first screening tray, a second screening tray and a third screening tray of the present invention;

FIG. 5 is a schematic cross-sectional view of a shearing picking bin of the present invention;

FIG. 6 is a schematic top view of the shear picking bin of the present invention;

FIG. 7 is a schematic view of a structural bearing plate of the present invention;

fig. 8 is a schematic cross-sectional view of the leader board of the present invention.

In the figure: 1. moving the base; 101. a moving wheel; 2. a handle; 3. a control panel; 301. a perspective window; 302. a control button; 4. a screening box; 401. conveying a screening pipe; 402. a first screening tray; 403. a second screening tray; 404. a third screening tray; 405. a first collection drawer; 406. a second collection drawer; 407. a third collection drawer; 5. a hydraulic lifting rod; 501. an extension rod; 502. a cross bar; 6. shearing a picking box; 601. an electromagnetic relay; 602. a scissor handle; 603. a blade; 604. a connecting spring; 605. a magnet ring; 7. a fruit and vegetable recognition chamber; 701. a micro negative pressure fan; 702. a gas delivery pipe; 703. a delivery hose; 704. a suction funnel; 705. filtering the plate; 706. a reaction bottle; 707. a one-way gas delivery pipe; 8. a material receiving box; 801. a feed inlet; 802. a compression spring; 803. a material guide plate; 804. a discharge port; 9. a bearing plate; 901. a limiting frame; 902. pulling a rope; 10. a transfer port; 11. a fuse plate; 1101. and a material guiding pipe.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-8, an embodiment of the present invention is shown: a target recognition system for a fruit and vegetable picking robot comprises a movable base 1, a screening box 4, a fruit and vegetable recognition chamber 7, a material receiving box 8 and a bearing plate 9, wherein the screening box 4 is installed at the top of the movable base 1, the movable base 1 can realize the transfer of different picking points through a movable auxiliary device, the picking range is expanded, the screening box 4 can carry out classified screening on the sheared fruits and vegetables and realize classified collection, the processing and the processing of workers are facilitated, the economic value of the fruits and vegetables is further improved, a hydraulic lifting rod 5 is welded at the top of the movable base 1, the hydraulic lifting rod 5 is positioned at one side of the screening box 4, an extension rod 501 is slidably installed at the top of the hydraulic lifting rod 5, the extension rod 501 is driven through the lifting change of the hydraulic lifting rod 5 to carry out the picking height adjustment, the device is convenient to carry out corresponding picking operation, two groups of cross rods 502 are symmetrically installed on the, the shearing and picking device can provide a supporting effect for the installation of the shearing and picking box 6, the shearing and picking box 6 is installed at one end, far away from the extension rod 501, of the cross rod 502 through a penetrating bolt, the approach and the distance of the blade 603 can be realized through the power-on and the power-off of the internal electromagnetic relay 601, the cutting treatment of fruits and vegetables can be further realized, the control panel 3 is installed on one side surface of the shearing and picking box 6, the operation control of the device can be more convenient and simpler, the fruit and vegetable recognition chamber 7 is installed inside the shearing and picking box 6, the bottom of the fruit and vegetable recognition chamber 7 is provided with an air outlet pipe extending to the outside of the shearing and picking box 6, whether the fruits and vegetables are mature or not is judged through the existence of olefin gas in the air around the fruits and vegetables, the picking error is avoided, the waste of the fruits and vegetables is caused, the material receiving box 8, the sheared fruits and vegetables can be stored temporarily, the fruits and vegetables are prevented from being transferred and conveyed after being sheared once, the waste of shearing time is reduced, the shearing efficiency is improved, the conveying screening pipe 401 is arranged inside the screening box 4, the sheared fruits and vegetables can be classified and screened according to the size through three groups of screening discs with sequentially reduced screening apertures arranged inside, so that the screening operation of subsequent workers is reduced, the fruit and vegetable processing procedure is shortened, the fruit and vegetable processing efficiency is improved, the surface of the conveying screening pipe 401 is connected with three groups of material guiding plates 11, one end of each material guiding plate 11 extends into the conveying screening pipe 401, the fruits and vegetables screened and intercepted by the screening discs can be transferred and conveyed into the corresponding collecting drawer, the classified collection of the fruits and vegetables is convenient, three groups of partition plates which are arranged up and down are arranged on the inner wall of the screening box 4, and a supporting effect can be provided for the installation of a first collecting drawer 405, a second collecting drawer 406 and a third collecting drawer 407, the first collection drawer 405, the second collection drawer 406 and the third collection drawer 407 are slidably mounted on the top surfaces of the three groups of partition plates, the first collection drawer 405, the second collection drawer 406 and the third collection drawer 407 are respectively used for collecting fruits and vegetables with larger, inferior and minimum sizes, so that classified collection is realized, the screened fruits and vegetables are prevented from being mixed together and classified sale is prevented, handles 2 are mounted on the front surfaces of the first collection drawer 405, the second collection drawer 406 and the third collection drawer 407, the handles 2 are located outside the screening box 4, the handles 2 are convenient for workers to pull the first collection drawer 405, the second collection drawer 406 and the third collection drawer 407 open and take out the bearing plate 9 and the fruits and vegetables inside the bearing plate 9 from the handles, so that a new and empty bearing plate 9 can be put in for next round fruit and vegetable bearing work, four groups of round conveying openings 10 are arranged on the back surfaces of the first collection drawer 405, the second collection drawer 406 and the third collection drawer 407, can run through the fruit vegetables in the material pipe 1101 of leading through the introduction drawer 405, collect the inside of drawer 406 and No. three collection drawers 407 through transfer port 10, so as to carry out subsequent branch and arrange the preservation, collect drawer 405 for one number, collect drawer 406 and No. three inside of collecting drawer 407 and all placed bearing plate 9, can divide the row to put the preservation to the fruit vegetables after the screening, avoid bumping between the fruit vegetables, cause the epidermis damaged, influence subsequent sale and the preservation of fruit vegetables.

A micro negative pressure fan 701 is arranged inside the fruit and vegetable recognition chamber 7, a gas pipe 702 is arranged on the front surface of the fruit and vegetable recognition chamber 7, the gas pipe 702 extends to the outside of the shearing and picking box 6, one end of the gas pipe 702 far away from the micro negative pressure fan 701 is hermetically connected with a suction funnel 704, the suction funnel 704 is fixed on the front surface of the shearing and picking box 6, the suction funnel 704 is positioned above the material receiving box 8, a filter plate 705 is arranged on the inner wall of the suction funnel 704, a reaction bottle 706 is arranged at the bottom inside the shearing and picking box 6, potassium permanganate solution is contained in the reaction bottle 706, a conveying hose 703 is hermetically arranged at the bottom of the gas pipe 702, the bottom of the conveying hose 703 extends to the inside of the reaction bottle 706, the bottom of the conveying hose 703 is close to the bottom wall of the reaction bottle 706, a one-way gas pipe 707 is arranged inside the reaction bottle 706, a one-way valve is arranged inside the one-, the output end of the one-way air pipe 707 extends to the bottom of the shearing and picking box 6, when the fruits and vegetables to be picked are needed to be subjected to target judgment, the air suction funnel 704 is aligned to the surfaces of the fruits and vegetables, then the micro negative pressure fan 701 is started, air on the surfaces of the fruits and vegetables can be extracted into the air pipe 702 by utilizing negative pressure wind power generated by the micro negative pressure fan, and is shunted into the reaction bottle 706 through the conveying hose 703, the filter plate 705 can intercept solid impurities and other foreign matters in the air, so that the pipeline blockage is avoided, because the tail end port of the conveying hose 703 is positioned downwards, the extracted air can move from bottom to top in the reaction bottle 706, so that sufficient reaction time is provided, the obtained detection result is relatively accurate, in view that the components in the air are mainly oxygen, carbon dioxide and other gases without reducibility, and the olefins gas with reducibility can be released outwards after the fruits and vegetables are ripe, therefore, when the extracted gas contains olefin gas, the olefin gas can perform oxidation reduction reaction with a potassium permanganate solution with strong oxidizability in the reaction bottle 706 and fade the potassium permanganate solution from a purple solution to a colorless solution, so that whether fruits and vegetables to be picked are ripe or not can be judged by observing the color change of the solution in the reaction bottle 706, the fruits and vegetables which are not ripe and are growing are prevented from being picked, picking errors are avoided, and then other gases in the reaction bottle 706 and carbon dioxide gas generated in the oxidation reduction reaction process can be transferred to the outside of the reaction bottle 706 through the one-way gas conveying pipe 707, and the bottle body is prevented from being burst due to excessive gas filling in the reaction bottle 706.

A first screening disc 402 and a second screening disc 403 are mounted on the inner wall of the conveying screening pipe 401, the second screening disc 403 is positioned below the first screening disc 402, a third screening disc 404 is mounted on the inner wall of the conveying screening pipe 401, the third screening disc 404 is positioned below the second screening disc 403, circular screening holes are mounted in the first screening disc 402, the second screening disc 403 and the third screening disc 404, the diameters of the screening holes are sequentially reduced, elastic plastic strips are mounted on the inner walls of the screening holes, picked fruits and vegetables are fed into the conveying screening pipe 401, the fruits and vegetables move along the conveying screening pipe 401 under the action of gravity and sequentially pass through three layers of screening discs with sequentially reduced diameters, the fruits and vegetables with larger sizes can be conveyed into the first collecting drawer 405 through a material guiding pipe 1101, the fruits and vegetables with the next sizes are conveyed into the second collecting drawer 406 through the material guiding pipe 1101, the fruits and vegetables with the smallest sizes are conveyed into the third collecting drawer 407 through the material guiding pipe, the preliminary screening after the realization is picked reduces the work load of later stage screening, and at this in-process, the elastic plastic strip in the screening dish in the screening hole can bounce rapidly after holding the less fruit vegetables of size and passing through, prevents that attached branch and leaf on fruit vegetables surface from getting into next layer screening space inside when providing the flexible effect of supporting to subsequent fruit vegetables to realized the preliminary clear effect in fruit vegetables surface.

The top of accepting board 9 is installed the spacing frame 901 of U type, spacing frame 901 is made for the sponge, both sides surface of accepting board 9 all installs stay cord 902, through the guide and the partition effect of the spacing frame 901 of U type, can make the inside fruit vegetables that get into spacing frame 901 divide to be listed as, independently discharge the storage, treat that the fruit vegetables on accepting board 9 surface bear the back full, drag stay cord 902 and will accept board 9 and take out the inside of collecting the drawer, so that place empty accepting board 9 again into, carry out the accepting of next round and put work.

Electromagnetic relays 601 are respectively installed at the top positions of the inner walls of two sides of the shearing and picking box 6, two sets of scissors handles 602 which are overlapped in a crossed mode are installed inside the shearing and picking box 6, the front surfaces of the scissors handles 602 extend out of the shearing and picking box 6, the scissors handles 602 are located above the air suction hopper 704, blades 603 are installed on the surfaces of the scissors handles 602, connecting springs 604 are installed on the surfaces of the scissors handles 602, the connecting springs 604 are located behind the blades 603, magnet rings 605 are installed on the surfaces of the scissors handles 602 in a surrounding mode, the magnet rings 605 are located behind the connecting springs 604, magnets which are manufactured artificially are formed after the electromagnetic relays 601 are electrified, have certain magnetic attraction effects and can release magnetic induction lines outwards, and the directions of the magnetic induction lines sent out by the magnetic poles on the surfaces of the magnet rings 605 are the same as the directions of the magnetic induction lines after the electromagnetic relays 601 are electrified, and are distributed, therefore, the two sets of scissor handles 602 approach each other, and then the handle stems of the fruits and vegetables are cut and isolated by the blades 603 on the surfaces of the approaching scissor handles 602, so as to complete the picking operation of the fruits and vegetables, after the cutting is finished, the electromagnetic relay 601 is powered off to lose the magnetic attraction, and then the magnet rings 605 are kept away from each other under the action of the connecting spring 604 after losing the repulsive force, so as to drive the scissor handles 602 and the blades 603 on the surfaces to be kept away from each other, so as to carry out the cutting operation of the next round.

Remove the bottom four corners of base 1 and all install and remove wheel 101, but auxiliary device picks the transfer of point to realize the work of picking of wider fruit vegetables.

Control panel 3's internally mounted has perspective window 301 and control button 302, control button 302 is located perspective window 301's rear, control button 302 passes through wire and hydraulic lifting rod 5, electromagnetic relay 601, miniature negative-pressure air fan 701 electric connection, the position of perspective window 301 corresponds with the mounted position of reaction bottle 706, can look over the inside solution colour of reaction bottle 706 through perspective window 301, whether ripe with the fruit vegetables of treating to pick, and control button 302's setting, make things convenient for the staff to hydraulic lifting rod 5, electromagnetic relay 601, miniature negative-pressure air fan 701's operating condition carries out convenient control.

The top of the material receiving box 8 is provided with a feeding hole 801, the bottom of the material receiving box 8 is provided with a discharging hole 804, the inner walls of two sides of the material receiving box 8 are respectively provided with a shaft, the inner walls of two sides of the material receiving box 8 are respectively provided with an inclined material guide plate 803 through the shaft, the material guide plates 803 are made of foam plates, the bottom wall of the interior of the material receiving box 8 is provided with two groups of compression springs 802, the compression springs 802 are respectively positioned below the material guide plates 803 and two sides of the discharging hole 804, when fruits and vegetables are cut, the fruits and vegetables can vertically fall under the action of gravity force and fall on the surface of the material guide plates 803 through the feeding hole 801, when the fruits and vegetables on the surface of the material guide plates 803 are accumulated to a certain amount, the material receiving box 8 is rotated to the upper part of the conveying screening pipe 401 by rotating the extension rod 501, at the moment, the weight of the fruits and vegetables drives the material guide plates 803 to slide downwards and extrude the compression springs, after the subsequent screening operation is completed, and after the fruits and vegetables on the surface of the material guide plate 803 are completely transferred to the inside of the material receiving box 8, the material guide plate 803 rises under the reset action of the compression spring 802, and the fruit and vegetable material guide operation is performed again.

Four groups of material guiding pipes 1101 are arranged inside the material guiding plate 11, the tail ends of the material guiding pipes 1101 are in one-to-one correspondence with the conveying openings 10, and the fruits and vegetables screened by the conveying and screening pipes 401 can be shunted and transferred to the surface of the bearing plate 9 through the material guiding pipes 1101, so that the conveying efficiency of the fruits and vegetables is improved, mutual collision in the conveying process of the fruits and vegetables can be avoided, and the surfaces of the fruits and vegetables are protected.

The device has the following publishing steps:

s1, when the device is used for picking corresponding fruits and vegetables, after the device is moved to a designated picking point, the hydraulic lifting rod 5 is started, the extension rod 501 is lifted to a picking height, the extension rod 501 is rotated, so that the horizontal plane of the cross rod 502 is driven to deviate, the shearing and picking box 6 at the bottom of the cross rod 502 is close to the fruits and vegetables to be picked, then the micro negative pressure fan 701 is started, the negative pressure wind generated by the micro negative pressure fan is used for absorbing the gas near the surfaces of the fruits and vegetables through the air conveying pipe 702 through the air suction funnel 704 and conveying the gas into the reaction bottle 706, in view of the fact that the fruits and vegetables are mature and release olefin gas, the olefin substances have certain reducibility, and the potassium permanganate solution stored in the reaction bottle 706 has strong oxidizability, so that the potassium permanganate solution and the potassium permanganate solution can generate oxidation-reduction reaction in the reaction bottle 706 to fade purple, therefore, whether the fruits and vegetables are mature or not is judged in an auxiliary mode, the aim of target identification is achieved, and the fruits and vegetables which are not mature yet and are developing are prevented from being picked;

s2, observing the fading of the solution in the reaction bottle 706 through the perspective window 301 to obtain a positive answer of fruit and vegetable ripening, starting the control button 302, so that the electromagnetic relay 601 is electrified to form a man-made magnet with a certain magnetic attraction effect, and the direction of the magnetic induction line emitted by the magnetic pole on the surface of the magnet ring 605 is distributed in a mirror image with the direction of the magnetic induction line after the electromagnetic relay 601 is electrified, so that the two groups of scissor handles 602 are mutually close to each other, and then the handle stem parts of the fruits and vegetables are sheared and separated through the blades 603 on the surface of the close scissor handles 602, thereby completing the picking operation of the fruits and vegetables;

s3, after picking is completed, fruits and vegetables are stored for a short time through the material receiving box 8, then the extension rod 501 is rotated, the material receiving box 8 is rotated to be right above the conveying and screening pipe 401 and then falls into the conveying and screening pipe 401 through the material outlet 804, then after three layers of screening discs with sequentially reduced diameters are fed, the fruits and vegetables with larger sizes can be conveyed into the first collecting drawer 405 through the material guiding pipe 1101, the fruits and vegetables with the relative next sizes are conveyed into the second collecting drawer 406 through the material guiding pipe 1101, and the fruits and vegetables with the smallest sizes are conveyed into the third collecting drawer 407 through the material guiding pipe 1101, so that primary screening after picking is realized, and workload of later-stage screening is reduced;

s4, not unidimensional fruit vegetables get into corresponding collection drawer inside back and fall on the surface of accepting board 9, guide and separation effect through U type spacing frame 901, can make the inside fruit vegetables of entering spacing frame 901 can divide row, independently discharge and preserve, can enough avoid the mutual collision in the transportation, protection fruit vegetables epidermis integrality, also can realize putting in order of fruit vegetables, be convenient for subsequent packing of taking, treat to accept board 9 surface fruit vegetables and take over full back, drag stay cord 902 and will accept board 9 and take out the inside of collecting the drawer, so that place empty accepting board 9 again, carry out accepting of next round and put work.

The working principle is as follows: when the device is used for picking corresponding fruits and vegetables, after the device is moved to a designated picking point, the hydraulic lifting rod 5 is started, the extension rod 501 is lifted to a picking height, the extension rod 501 is rotated, so that the horizontal plane of the cross rod 502 is driven to deviate, the shearing and picking box 6 at the bottom of the cross rod 502 is close to the fruits and vegetables to be picked, the air suction funnel 704 is close to the fruits and vegetables to be picked, then the micro negative pressure fan 701 is started, the negative pressure wind generated by the micro negative pressure fan absorbs the air near the surfaces of the fruits and vegetables through the air conveying pipe 702, the air is conveyed into the reaction bottle 706, the purple potassium permanganate solution in the reaction bottle 706 is observed to be faded, whether the fruits and vegetables are ripe is judged in an auxiliary mode, the purpose of target identification is achieved, the control button 302 is started after a positive answer is obtained, so that the electromagnetic relay 601 has a certain magnetic attraction effect after being electrified, by means of the mutual repulsive magnetic action of the electromagnetic relay 601 and the magnetic ring 605, the two sets of scissor handles 602 and the blades 603 are close to each other, after picking is completed, the scissor handles fall into the material receiving box 8 to be stored temporarily, then the extension rod 501 is rotated, the material receiving box 8 is rotated to be right above the conveying and screening pipe 401 and then falls into the conveying and screening pipe 401 through the discharge port 804, after three layers of screening discs with sequentially reduced diameters are introduced, larger-sized fruits and vegetables can be conveyed into the first collecting drawer 405 through the material guiding pipe 1101, the next-sized fruits and vegetables are conveyed into the second collecting drawer 406 through the material guiding pipe 1101, the smallest-sized fruits and vegetables can be conveyed into the third collecting drawer 407 through the material guiding pipe 1101, when the fruits and vegetables with different sizes enter the corresponding collecting drawers and then fall on the surface of the bearing plate 9, and through the guiding and separating action of the U-shaped limiting frame 901, the fruits and vegetables entering the limiting frame 901 can be arranged in rows, Independently discharge and preserve, after the surface of the bearing plate 9 is fully bearing fruits and vegetables, the pull rope 902 is pulled up and the bearing plate 9 is taken out from the inside of the collecting drawer, so that the empty bearing plate 9 is placed again for carrying and placing the next round.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a fruit vegetables picking robot is with target identification system, includes removal base (1), screening case (4), fruit vegetables discernment room (7), material receiving box (8) and accepts board (9), its characterized in that: the fruit and vegetable picking machine is characterized in that a screening box (4) is installed at the top of a movable base (1), a hydraulic lifting rod (5) is welded at the top of the movable base (1), the hydraulic lifting rod (5) is located on one side of the screening box (4), an extension rod (501) is slidably installed at the top of the hydraulic lifting rod (5), two groups of cross rods (502) are symmetrically installed on the surface of the extension rod (501), a cutting picking box (6) is installed at one end, far away from the extension rod (501), of each cross rod (502) through a penetrating bolt, a control panel (3) is installed on the surface of one side of the cutting picking box (6), a fruit and vegetable recognition chamber (7) is installed inside the cutting picking box (6), an air outlet pipe extending to the outside of the cutting picking box (6) is arranged at the bottom of the cutting picking box (6), a material receiving box (8) is installed at the bottom of the, the front of the material receiving box (8) protrudes out of the front of the shearing picking box (6), the conveying screening pipe (401) is installed inside the screening box (4), three groups of material guiding plates (11) are connected to the surface of the conveying screening pipe (401), one end of each material guiding plate (11) extends into the conveying screening pipe (401), three groups of partition plates which are arranged up and down are installed on the inner wall of the screening box (4), a first collecting drawer (405), a second collecting drawer (406) and a third collecting drawer (407) are installed on the top surfaces of the three groups of partition plates in a sliding mode, handles (2) are installed on the front surfaces of the first collecting drawer (405), the second collecting drawer (406) and the third collecting drawer (407), the handles (2) are located outside the screening box (4), four groups of circular conveying openings (10) are formed in the back surfaces of the first collecting drawer (405), the second collecting drawer (406) and the third collecting drawer (407), bearing plates (9) are arranged in the first collection drawer (405), the second collection drawer (406) and the third collection drawer (407).

2. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the interior of the fruit and vegetable recognition chamber (7) is provided with a miniature negative pressure fan (701), the front face of the fruit and vegetable recognition chamber (7) is provided with a gas pipe (702), the gas pipe (702) extends to the outside of the shearing and picking box (6), one end of the gas pipe (702) far away from the miniature negative pressure fan (701) is hermetically connected with a gas suction funnel (704), the gas suction funnel (704) is fixed on the front face of the shearing and picking box (6), the gas suction funnel (704) is positioned above the material receiving box (8), the inner wall of the gas suction funnel (704) is provided with a filter plate (705), the bottom inside of the shearing and picking box (6) is provided with a reaction bottle (706), the reaction bottle (706) is filled with a potassium permanganate solution, the bottom of the gas pipe (702) is hermetically provided with a conveying hose (703), the bottom of the conveying hose (703) extends to the inside of the reaction bottle (706), and the bottom of the conveying hose (703, one-way gas pipe (707) is installed to the internally mounted of reaction bottle (706), and the internally mounted of one-way gas pipe (707) has a check valve, and the input of one-way gas pipe (707) is close to the top wall position of reaction bottle (706), and the output of one-way gas pipe (707) extends to the bottom of shearing picking case (6).

3. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: screening dish (402) and No. two screening dishes (403) are installed to the inner wall of conveying screening pipe (401), No. two screening dishes (403) are located the below of a screening dish (402), No. three screening dishes (404) are installed to the inner wall of conveying screening pipe (401), No. three screening dishes (404) are located the below of No. two screening dishes (403), a screening dish (402), circular shape screening hole is all installed to the inside of No. two screening dishes (403) and No. three screening dishes (404), the diameter of screening hole reduces in proper order, the elastic plastic strip is installed to the inner wall of screening hole.

4. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the top of the bearing plate (9) is provided with a U-shaped limiting frame (901), the limiting frame (901) is made of sponge, and the surfaces of two sides of the bearing plate (9) are provided with pull ropes (902).

5. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: electromagnetic relay (601) are all installed to the both sides inner wall top position of shearing picking case (6), the internally mounted of shearing picking case (6) has two sets of scissors handle of a knife (602) that alternately stack, the inside of shearing picking case (6) is extended in the front of scissors handle of a knife (602), scissors handle of a knife (602) is located the top of breathing in funnel (704), blade (603) are equipped with on the surface of scissors handle of a knife (602), the surface mounting of scissors handle of a knife (602) has coupling spring (604), and coupling spring (604) are located the rear of blade (603), the surface of scissors handle of a knife (602) is encircleed and is installed magnet ring (605), and magnet ring (605) are located the rear of coupling spring (604).

6. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the four corners of the bottom of the movable base (1) are provided with movable wheels (101).

7. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the inside mounting of control panel (3) has perspective window (301) and control button (302), and control button (302) are located the rear of perspective window (301), and control button (302) pass through wire and hydraulic lifting rod (5), electromagnetic relay (601), miniature negative pressure fan (701) electric connection, and the mounted position of position and reaction bottle (706) of perspective window (301) corresponds.

8. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: the top of material receiving box (8) is equipped with feed inlet (801), the bottom of material receiving box (8) is equipped with discharge gate (804), the axle piece is all installed to the both sides inner wall of material receiving box (8), the stock guide (803) of slope are all installed through the axle piece to the both sides inner wall of material receiving box (8), stock guide (803) are made for the cystosepiment, two sets of compression spring (802) are installed to the inside diapire of material receiving box (8), compression spring (802) are located the below of stock guide (803) and the both sides of discharge gate (804) respectively.

9. The target recognition system for the fruit and vegetable picking robot as claimed in claim 1, wherein: four groups of material guiding pipes (1101) are arranged inside the material guiding plate (11), and the tail ends of the material guiding pipes (1101) correspond to the conveying openings (10) one by one.

10. The target recognition system for the fruit and vegetable picking robot as claimed in claims 1-9, wherein the device comprises the following publishing steps:

s1, when the device is used for picking corresponding fruits and vegetables, after the device is moved to a designated picking point, the hydraulic lifting rod (5) is started, the extension rod (501) is lifted to a picking height, the extension rod (501) is rotated, so that the horizontal plane of the cross rod (502) is driven to deviate, the shearing picking box (6) at the bottom of the cross rod (502) is close to the position close to the fruits and vegetables to be picked, then the miniature negative pressure fan (701) is started, the generated negative pressure wind force absorbs the gas close to the surfaces of the fruits and vegetables through the air conveying pipe (702) through the air suction funnel (704), and the gas is sent into the reaction bottle (706), in view of that the olefin gas is released after ripening, the olefin substances of the fruits and vegetables have certain reducibility, and the potassium permanganate solution stored in the reaction bottle (706) has strong oxidizability, so that the potassium permanganate solution in the reaction bottle (706) can generate oxidation-reduction reaction to fade purple potassium permanganate solution, therefore, whether the fruits and vegetables are mature or not is judged in an auxiliary mode, the aim of target identification is achieved, and the fruits and vegetables which are not mature yet and are developing are prevented from being picked;

s2, observing the fading of the solution in the reaction bottle (706) through the perspective window (301) to obtain a positive result of fruit and vegetable ripening, and starting the control button (302) to enable the electromagnetic relay (601) to be electrified to form a man-made magnet with a certain magnetic attraction effect, wherein the direction of a magnetic induction line emitted by a magnetic pole on the surface of the magnet ring (605) is in mirror image distribution with the direction of the magnetic induction line after the electromagnetic relay (601) is electrified, so that the two groups of scissor knife handles (602) are mutually repellent, and then the handle stems of the fruits and vegetables are cut and separated through the blades (603) on the surfaces of the two groups of scissor knife handles (602) which are close to each other, so that the picking operation of the fruits and vegetables is completed;

s3, after picking is completed, fruits and vegetables are stored temporarily through the material receiving box (8), then the extension rod (501) is rotated, the material receiving box (8) is rotated to be right above the conveying and screening pipe (401) and then falls into the conveying and screening pipe (401) through the material outlet (804), then three layers of screening discs with sequentially reduced diameters are introduced, the fruits and vegetables with larger sizes can be conveyed into the first collection drawer (405) through the material guiding pipe (1101), the fruits and vegetables with the next sizes are conveyed into the second collection drawer (406) through the material guiding pipe (1101), the fruits and vegetables with the smallest sizes are conveyed into the third collection drawer (407) through the material guiding pipe (1101), primary screening after picking is achieved, and workload of later-stage screening is reduced;

s4, the not surface that falls in accepting board (9) behind corresponding collection drawer inside of not unidimensional fruit vegetables entering, guide and separation effect through U type spacing frame (901), can make the inside fruit vegetables that get into spacing frame (901) can divide to be listed as, independently discharge and preserve, can enough avoid the mutual collision in the transportation, protection fruit vegetables epidermis integrality, also can realize putting in order of fruit vegetables, be convenient for subsequent packing of taking, treat that board (9) surface fruit vegetables are taken over full back, drag stay cord (902) and will accept board (9) and take out the inside of collecting the drawer, so that place empty accepting board (9) again, carry out the work of putting of next round.