CN113245236A - Intelligent apple picking and sorting machine and picking method thereof - Google Patents
Intelligent apple picking and sorting machine and picking method thereof Download PDFInfo
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- CN113245236A CN113245236A CN202110433819.7A CN202110433819A CN113245236A CN 113245236 A CN113245236 A CN 113245236A CN 202110433819 A CN202110433819 A CN 202110433819A CN 113245236 A CN113245236 A CN 113245236A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B25/00—Packaging other articles presenting special problems
- B65B25/02—Packaging agricultural or horticultural products
- B65B25/04—Packaging fruit or vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0081—Sorting of food items
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Environmental Sciences (AREA)
- Agronomy & Crop Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
Abstract
The invention provides an intelligent apple picking and sorting machine and a picking method thereof, wherein the intelligent apple picking and sorting machine comprises a tail end picking device, a microprocessor, an intelligent picking device, a packaging device and a trailer; the tail end picking device comprises a micro vacuum pump, a mechanical arm and an electrochemical ethylene gas sensor, wherein the electrochemical ethylene gas sensor is arranged on a paw of the mechanical arm and used for detecting the concentration of ethylene gas near apples to be picked, the micro vacuum pump is arranged on the mechanical arm, and an inlet of the micro vacuum pump is positioned near the electrochemical ethylene gas sensor; the microprocessor controls the mechanical arms to pick up ripe apples and convey the apples to the intelligent sorting device according to detection values of the electrochemical ethylene gas sensors, the intelligent sorting device conveys the apples into the trailer according to size classification of the apples, and the packaging device is installed on the intelligent sorting device. The invention can judge the maturity of the fruits and directly sort the fruits into the box according to the diameter to directly package the apples.
Description
Technical Field
The invention relates to the technical field of apple picking, in particular to an intelligent apple picking and sorting machine and a picking method thereof.
Background
Fruit picking plays a very important role in the farming of fruit growers, which is a hard and arduous task of fruit growers in one year, the fruit picking of the fruit such as apple and the like is mainly carried out by manual operation at present, the fruit growers need to use a ladder to pick the fruit above the fruit tree, and the fruit growers need to frequently carry the ladder for picking the fruit in different directions of the same fruit tree and picking different fruit trees, in addition, after the fruit is picked from the tree, the fruit needs to be sorted according to size, after the fruit is sorted, the fruit needs to be carried to a tool cart by manual operation, then the fruit is conveyed to a storage place and needs to be packaged, and the apple is prevented from being damaged in transportation. Such picking is time and labor consuming and requires multiple people to collaborate to accomplish. Picking machines in the prior art can not sort and pack the fruits below the fruit trees according to the volume of the fruits, usually pick the fruits off in an orchard and transport the fruits to a sorting field by a vehicle, and then sort the fruits manually or mechanically, wherein the defects are as follows: the transportation links are many, the fruit can not be collided in the operation, the fruit quality is reduced, and the fruit appearance, the selling price and the refrigeration period are directly influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the intelligent apple picking and sorting machine and the picking method thereof, and the intelligent apple picking and sorting machine has the characteristics of judging the maturity of fruits, directly sorting the fruits into boxes according to the diameters, directly packaging the apples, reducing the loss of the apples in transportation, reducing the labor force of people and manual transportation links, and being safe and efficient in operation.
The present invention achieves the above-described object by the following technical means.
An intelligent apple picking and sorting machine comprises a tail end picking device, a microprocessor, an intelligent sorting device, a packaging device and a trailer;
the tail end picking device comprises a micro vacuum pump, a mechanical arm and an electrochemical ethylene gas sensor, wherein the electrochemical ethylene gas sensor is arranged on a paw of the mechanical arm and used for detecting the concentration of ethylene gas near apples to be picked, the micro vacuum pump is arranged on the mechanical arm, and an inlet of the micro vacuum pump is positioned near the electrochemical ethylene gas sensor and used for absorbing the ethylene gas generated by the apples to be picked near the electrochemical ethylene gas sensor;
the microprocessor controls the mechanical arms to pick up ripe apples and convey the apples to the intelligent sorting device according to detection values of the electrochemical ethylene gas sensors, the intelligent sorting device conveys the apples into the trailer according to size classification of the apples, and the packaging device is installed on the intelligent sorting device and used for packaging the apples of different sizes.
Furthermore, the tail end picking device further comprises an image recognition device, wherein the image recognition device is positioned on the paw and used for selecting picked apples to be picked through image recognition.
Further, intelligence sorting device includes conveyer belt device, range finding laser photogate sensor, reposition of redundant personnel passageway, movable baffle and fixed stop, conveyer belt device is used for carrying the apple that terminal harvesting device was picked to the reposition of redundant personnel passageway, the last convergent fixed stop of installation of conveyer belt device, movable baffle is connected in the articulated connection of fixed stop one end, range finding laser photogate sensor is used for detecting the apple size, microprocessor makes movable baffle rotate according to range finding laser photogate sensor control rotating device for divide the size with the apple input in the reposition of redundant personnel passageway that corresponds.
Furthermore, a distance measuring laser photoelectric door sensor is installed at the narrow opening of the tapered fixed baffle, and the microprocessor acquires the laser interruption time of the distance measuring laser photoelectric door sensor and the conveying speed of the conveying belt device and calculates the diameter of the apple.
Further, an inductor is arranged on the movable baffle plate and used for detecting the rotating angle of the movable baffle plate, and the inductor feeds back a detection signal to the microprocessor.
Furthermore, the interior of the trailer is divided into a plurality of trailer subarea spaces, and each trailer subarea space corresponds to the shunt channel one by one.
A picking method of an intelligent apple picking and sorting machine comprises the following steps:
selecting apples to be picked by the image recognition device through image recognition;
the microprocessor controls the mechanical arm to grasp the picked apples to be picked, the micro vacuum pump absorbs ethylene gas generated by the picked apples to be picked to be close to the electrochemical ethylene gas sensor, the electrochemical ethylene gas sensor detects the concentration of the ethylene gas generated by the picked apples to be picked, and the microprocessor judges whether the picked apples can be picked or not according to the concentration;
the microprocessor controls the mechanical arm to pick up ripe apples and convey the apples to the conveyor belt device according to the detection value of the electrochemical ethylene gas sensor, the ranging laser photoelectric gate sensor detects the laser interruption time of a single apple conveying process, the microprocessor obtains the laser interruption time of the ranging laser photoelectric gate sensor and the conveying speed of the conveyor belt device, and the diameter of the apples is calculated;
the microprocessor controls the rotation angle of the movable baffle according to the obtained diameter of the apple to enable apples with different diameters to be input into corresponding flow dividing channels;
the packaging device packages apples with different sizes in the shunting channel;
the shunting channel inputs the packaged apples into the trailer.
The invention has the beneficial effects that:
according to the intelligent apple picking and sorting machine and the picking method thereof, the system for detecting whether the apples are ripe or not through a chemical method can enable ripe apples to be picked accurately, and immature apples are not picked; set up fruit letter sorting system, can make fruit pick the back and directly sort according to the diameter, packing plant can pack the apple of each letter sorting passageway, and fruit letter sorting system is provided with the wheel alone, and when the fruit that stores up full fruit or gather in the trailer needs in time to deliver to the storage department, can be solitary take away the trailer through the tractor transport vechicle, deliver to the storage department with the fruit. By adopting the mode, the fruit picking efficiency is improved, and the operation time of fruit growers is shortened.
Drawings
Fig. 1 is a general diagram of the intelligent apple picking and sorting machine provided by the invention.
Fig. 2 is a structural diagram of the intelligent sorting device according to the invention.
Fig. 3 is a structural view of an end picking device according to the present invention.
Fig. 4 is a structure diagram of the trailer of the invention.
In the figure:
1-a terminal picking device; 1-1-micro vacuum pump; 1-2-a robotic arm; 1-3-electrochemical ethylene gas sensor; 1-4-apple; 2-a microprocessor; 3-an intelligent sorting device; 3-1-a conveyor belt; 3-2-conveyor means; 3-3-a first rectangular frame; 3-4-ranging laser photogate sensor; 3-5-motor; 3-6-a second rectangular frame; 3-7-a sensor; 3-8-a first diversion channel; 3-9-a second diversion channel; 3-10-third diversion channel; 3-11-fourth flow-splitting channel; 3-12-a movable baffle; 3-13-fixed baffle; 4-a packaging device; 5-a trailer; 5-1-first trailer zoning space; 5-2-second trailer zoning space; 5-3-third trailer zoning space; 5-4-fourth trailer zoning space; 6-tractor transport vechicle.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the intelligent apple picking and sorting machine of the present invention comprises an end picking device 1, a microprocessor 2, an intelligent sorting device 3, a packaging device 4, a trailer 5 and a tractor transport vehicle 6;
as shown in fig. 3, the terminal picking device 1 comprises a micro vacuum pump 1-1, a mechanical arm 1-2, an image recognition device and an electrochemical ethylene gas sensor 1-3, wherein the electrochemical ethylene gas sensor 1-3 is arranged on a paw of the mechanical arm 1-2, the electrochemical ethylene gas sensor 1-3 is used for detecting the concentration of ethylene gas near the apple 1-4 to be picked, the micro vacuum pump 1-1 is mounted on the mechanical arm 1-2, and an inlet of the micro vacuum pump 1-1 is located near the electrochemical ethylene gas sensor 1-3 and is used for absorbing the ethylene gas generated by the apple 1-4 to be picked to the vicinity of the electrochemical ethylene gas sensor 1-3; the image recognition device is positioned on the paw and used for selecting picked apples 1-4 to be picked through image recognition.
The microprocessor 2 controls the mechanical arms 1-2 to pick mature apples 1-4 according to detection values of the electrochemical ethylene gas sensors 1-3 and conveys the apples to the intelligent sorting device 3, the intelligent sorting device 3 sorts and conveys the apples 1-4 into the trailer 5 according to sizes of the apples, and the packaging device 4 is installed on the intelligent sorting device 3 and used for packaging the apples 1-4 with different sizes. The trailer 5 is connected with the intelligent sorting device 3 through a bolt traction hook, and the tractor transport vehicle 6 drives the trailer 5.
As shown in fig. 2, the intelligent sorting device 3 comprises a conveyor belt 3-1, a conveyor belt device 3-2, a first rectangular frame 3-3, a ranging laser photoelectric gate sensor 3-4, a motor 3-5, a second rectangular frame 3-6, an inductor 3-7, a diversion channel, a movable baffle 3-12 and a fixed baffle 3-13, wherein the conveyor belt device 3-2 conveys apples 1-4 picked by the tail end picking device 1 to the diversion channel through the conveyor belt 3-1, the frame of the conveyor belt device 3-2 is provided with a tapered fixed baffle 3-13, one end of the fixed baffle 3-13 is hinged with the movable baffle 3-12, and the movable baffle 3-12 and the diversion channel have a gap. The ranging laser photoelectric gate sensor 3-4 is used for detecting the size of the apple 1-4, and the microprocessor 2 controls the rotating device according to the ranging laser photoelectric gate sensor 3-4 to enable the movable baffle 3-12 to rotate and is used for inputting the apple 1-4 into the corresponding flow dividing channel according to the size. The machine frame of the conveyor belt device 3-2 is provided with a first rectangular frame 3-3 and a second rectangular frame 3-6, the first rectangular frame 3-3 is provided with a microprocessor 2, the second rectangular frame 3-6 is provided with a motor 3-5, and the motor 3-5 directly or indirectly drives the movable baffle 3-12 to rotate. And a distance measuring laser photoelectric gate sensor 3-4 is arranged at the narrow opening of the tapered fixed baffle plate 3-13, the microprocessor 2 acquires the laser interruption time of the distance measuring laser photoelectric gate sensor 3-4 and the conveying speed of the conveyor belt device 3-2, and the diameter of the apple 1-4 is calculated. The sensors 3-7 are arranged on the movable baffles 3-12 and used for detecting the rotating angles of the movable baffles 3-12, and the sensors 3-7 feed back detection signals to the microprocessor 2.
Examples as shown in fig. 2, the split channel includes a first split channel 3-8, a second split channel 3-9, a third split channel 3-10, and a fourth split channel 3-11; the packaging device 4 is arranged above the sorting channel and used for packaging apples 1-4 with different sizes, and the specific structure of the packaging device 4 in the prior art is not described. As shown in fig. 4, the interior of the hopper 5 is divided into a first hopper partition space 5-1, a second hopper partition space 5-2, a third hopper partition space 5-3 and a fourth hopper partition space 5-4, and each hopper partition space corresponds to a diversion channel. Apples with the diameter of less than 70mm, the diameter of 70-80mm, the diameter of 80-90mm and the diameter of more than 90mm are respectively arranged in the first trailer subarea space 5-1, the second trailer subarea space 5-2, the third trailer subarea space 5-3 and the fourth trailer subarea space 5-4.
The picking method of the intelligent apple picking and sorting machine comprises the following steps:
Selecting picked apples 1-4 to be picked by image recognition device through color recognition of image analysis apples;
the microprocessor 2 controls the mechanical arm 1-2 to grasp the picked apples 1-4 to be picked, the micro vacuum pump 1-1 absorbs ethylene gas generated by the picked apples 1-4 to be picked to the vicinity of the electrochemical ethylene gas sensor 1-3, the concentration of the ethylene gas generated by the picked apples 1-4 to be picked is detected by the electrochemical ethylene gas sensor 1-3, and the microprocessor 2 judges whether the picked apples can be picked or not according to the concentration; and if the fruit can be picked, picking the fruit.
The microprocessor 2 controls the mechanical arm 1-2 to pick mature apples 1-4 and convey the apples to the conveyor belt device 3-2 according to the detection value of the electrochemical ethylene gas sensor 1-3, the ranging laser photoelectric gate sensor 3-4 detects the laser interruption time of a single apple 1-4 in the conveying process, the microprocessor 2 obtains the laser interruption time of the ranging laser photoelectric gate sensor 3-4 and the conveying speed of the conveyor belt device 3-2, and the diameter of the apple 1-4 is calculated;
the microprocessor 2 controls the rotation angle of the movable baffle 3-12 according to the obtained diameter of the apple 1-4, so that the apples 1-4 with different diameters are input into the corresponding flow dividing channel;
the packaging device 4 packages apples 1-4 with different sizes in the shunting channel;
the apple after the packing enters into each subregion of trailer through the reposition of redundant personnel passageway between, stores up full fruit or the fruit of gathering in the trailer and need in time send to the storage department when, through the tractor transport vechicle, sends the fruit to the storage department.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (7)
1. An intelligent apple picking and sorting machine is characterized by comprising an end picking device (1), a microprocessor (2), an intelligent sorting device (3), a packaging device (4) and a trailer (5);
the tail end picking device (1) comprises a micro vacuum pump (1-1), a mechanical arm (1-2) and an electrochemical ethylene gas sensor (1-3), an electrochemical ethylene gas sensor (1-3) is arranged on a paw of the mechanical arm (1-2), the electrochemical ethylene gas sensor (1-3) is used for detecting the concentration of ethylene gas near the apples (1-4) to be picked, the micro vacuum pump (1-1) is arranged on the mechanical arm (1-2), and the inlet of the micro vacuum pump (1-1) is positioned near the electrochemical ethylene gas sensor (1-3), for absorbing ethylene gas generated by the apples (1-4) to be picked into the vicinity of the electrochemical ethylene gas sensor (1-3);
the intelligent apple picking and conveying device is characterized in that the microprocessor (2) controls the mechanical arms (1-2) to pick ripe apples (1-4) according to detection values of the electrochemical ethylene gas sensors (1-3) and convey the apples to the intelligent sorting device (3), the intelligent sorting device (3) sorts and conveys the apples to the trailer hopper (5) according to sizes of the apples (1-4), and the packaging device (4) is installed on the intelligent sorting device (3) and used for packaging the apples (1-4) with different sizes.
2. The apple intelligent picking sorter according to claim 1, characterised in that the end picking device (1) further comprises an image recognition device located on the paw for selecting picked apples (1-4) to be picked by image recognition.
3. The apple intelligent picking and sorting machine according to claim 1, wherein the intelligent sorting device (3) comprises a conveyor belt device (3-2), a ranging laser photoelectric door sensor (3-4), a diversion channel, a movable baffle (3-12) and a fixed baffle (3-13), the conveyor belt device (3-2) is used for conveying apples (1-4) picked by the end picking device (1) to the diversion channel, the conveyor belt device (3-2) is provided with the tapered fixed baffle (3-13), one end of the fixed baffle (3-13) is hinged with the movable baffle (3-12), the ranging laser photoelectric door sensor (3-4) is used for detecting the size of the apples (1-4), the microprocessor (2) controls the rotating device according to the ranging laser photoelectric door sensor (3-4), the movable baffles (3-12) are rotated for feeding the apples (1-4) into the corresponding diversion channels according to size.
4. The intelligent apple picking and sorting machine according to claim 3, wherein a distance measuring laser photoelectric gate sensor (3-4) is installed at the narrow opening of the fixed baffle plate (3-13) which is tapered, the microprocessor (2) acquires the laser interruption time of the distance measuring laser photoelectric gate sensor (3-4) and the conveying speed of the conveying belt device (3-2), and the diameter of the apple (1-4) is calculated.
5. The intelligent apple picking and sorting machine according to claim 3, wherein the movable baffles (3-12) are provided with sensors (3-7) for detecting the rotating angles of the movable baffles (3-12), and the sensors (3-7) feed detection signals back to the microprocessor (2).
6. The intelligent apple picking and sorting machine of claim 1, wherein the interior of the hopper (5) is divided into a plurality of hopper partition spaces, and each hopper partition space corresponds to a diversion channel.
7. The picking method of the intelligent apple picking and sorting machine according to claim 1, characterized by comprising the following steps:
selecting picked apples (1-4) to be picked by the image recognition device through image recognition;
the microprocessor (2) controls the mechanical arm (1-2) to grasp a picked apple (1-4) to be picked, the micro vacuum pump (1-1) absorbs ethylene gas generated by the picked apple (1-4) to be picked to the vicinity of the electrochemical ethylene gas sensor (1-3), the electrochemical ethylene gas sensor (1-3) detects the concentration of the ethylene gas generated by the picked apple (1-4) to be picked, and the microprocessor (2) judges whether picking can be performed or not according to the concentration;
the microprocessor (2) controls the mechanical arm (1-2) to pick ripe apples (1-4) and convey the apples to the conveyor belt device (3-2) according to the detection value of the electrochemical ethylene gas sensor (1-3), the ranging laser photoelectric gate sensor (3-4) detects the laser interruption time of a single apple (1-4) in the conveying process, the microprocessor (2) obtains the laser interruption time of the ranging laser photoelectric gate sensor (3-4) and the conveying speed of the conveyor belt device (3-2), and the diameter of the apple (1-4) is calculated;
the microprocessor (2) controls the rotation angle of the movable baffle (3-12) according to the obtained diameter of the apples (1-4), so that the apples (1-4) with different diameters are input into the corresponding flow dividing channels;
the packaging device (4) packages apples (1-4) with different sizes in the shunting channel;
the shunting channel inputs the packaged apples (1-4) into the trailer (5).
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| CN202110433819.7A CN113245236A (en) | 2021-04-21 | 2021-04-21 | Intelligent apple picking and sorting machine and picking method thereof |
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| CN202110433819.7A CN113245236A (en) | 2021-04-21 | 2021-04-21 | Intelligent apple picking and sorting machine and picking method thereof |
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Application publication date: 20210813 |