CN113822748A - Fruit picking method and device, electronic equipment and storage medium - Google Patents
Fruit picking method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of fruit picking robots and discloses a fruit picking method, a fruit picking device, electronic equipment and a storage medium. The method is applied to an order management system, and the fruit picking method comprises the following steps: acquiring order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; generating a first control instruction according to the picking time, and sending the first control instruction to a picking robot to enable the picking robot to pick when the time reaches the picking time; the fruit picking method can accurately calculate picking time by considering current maturity information, target maturity information, arrival time information and the like of the order, and keeps the taste and freshness of the fruits to the maximum extent, so that customers can eat satisfied fruits.
Description
Technical Field
The application relates to the technical field of fruit picking robots, in particular to a fruit picking method, a fruit picking device, electronic equipment and a storage medium.
Background
With the improvement of life quality, the quality requirements of people on fruits are gradually improved, certain requirements are provided for the maturity and the taste of the fruits, and even the people are willing to buy the fruits with better quality at high cost. Therefore, the picking timing, sorting quality, etc. of the fruits can all affect the picking timing. At present, some people like to buy fruits from online and offline singly, but the quality of the fruits bought online is uneven, because most of fruits are picked by the common method that people are arranged to carry out centralized picking when the fruits are ripe for 6 to 7 minutes, and the storage time, the logistics time and the fruit maturity sent to the hands of customers are not considered in the picking process.
Some picking modes are fruit picking robots, while the current fruit picking robots mainly rely on AI technology to identify and position mature fruits and directly pick the fruits after determining the pose of a mechanical arm, so that the problems of efficiency, cost and the like of manual picking can be solved, but the problems are still not considered.
In view of the above problems, no effective technical solution exists at present.
Disclosure of Invention
The application aims to provide a fruit picking method, a fruit picking device, electronic equipment and a storage medium, which can accurately calculate picking time and enable customers to eat fruits with expected ripeness.
In a first aspect, the present application provides a fruit picking method applied to an order management system, the fruit picking method comprising the following steps:
s1, obtaining order information; the order information comprises target maturity information;
s2, obtaining current maturity information of the fruits;
s3, calculating picking time according to the current maturity information and the target maturity information;
and S4, generating a first control instruction according to the picking time, and sending the first control instruction to a picking robot to enable the picking robot to pick when the time reaches the picking time.
The fruit picking method comprehensively analyzes and predicts the order, controls the picking robot according to the key information points of the order, fully considers the current maturity information, the target maturity information and the like of the order in the picking process, accurately calculates the picking time, keeps the taste and freshness of the fruits to the maximum extent, and enables customers to eat satisfied fruits.
Optionally, in the fruit picking method described herein, the step S3 includes:
s301, obtaining the fruit type information;
s302, obtaining first daily average maturity information of the fruits according to the category information;
s303, calculating the picking time according to the first daily average maturity information, the current maturity information and the target maturity information.
The picking time is calculated by adopting the average maturity information in the first day, so that the times of detecting the maturity of the picking robot can be reduced, and the maturity of the picked fruits is ensured to meet the expectation of customers.
Optionally, in the fruit picking method described in the present application, the step S302 is followed by:
acquiring second-day average maturity information, complete maturity information and target maturity information;
and generating quality guarantee duration information according to the second-day average maturity, the complete maturity information and the target maturity information.
Through the mode, a customer can know the quality guarantee period information and the storage condition of the fruit after receiving the fruit, and the situation that the customer forgets to eat or the fruit misses the optimal appreciation period or is rotten due to improper storage is prevented.
Optionally, in the fruit picking method according to the present application, the order information includes shipping address information;
after the step S1 and before the step S3, the method further comprises the steps of:
A1. acquiring transportation time information from a picking place to a receiving place according to the receiving address information;
the step S303 includes:
and calculating picking time according to the first day average maturity information, the second day average maturity information, the current maturity information, the target maturity information and the transportation time information.
Optionally, in the fruit picking method described herein, the step a1 includes:
A101. acquiring the transportation distance from the picking place to the receiving place;
A102. and calculating the transportation time information according to the transportation distance.
Optionally, in the fruit picking method according to the present application, the order information includes logistics company information, and after the step S1 and before the step S3, the method further includes the steps of:
and acquiring transportation time information according to the logistics company information.
Alternatively, in the fruit picking process described herein,
the order information includes weight information or quantity information, and the step S4 includes:
and generating the first control instruction according to the picking time and the weight information, or generating the first control instruction according to the picking time and the quantity information, and sending the first control instruction to the picking robot, so that the picking robot picks when the time reaches the picking time, and picks the fruits with corresponding weight values or quantity values.
In a second aspect, the present application also provides a fruit picking apparatus for use in an order management system, wherein the apparatus comprises:
a first obtaining module: the order information is acquired; the order information comprises target maturity information;
a second obtaining module: the method is used for obtaining the current maturity information of the fruit;
a calculation module: the picking time is calculated according to the current maturity information and the target maturity information;
a generation module: the picking robot is used for generating a first control instruction according to the picking time and sending the first control instruction to the picking robot, so that the picking robot picks when the time reaches the picking time.
The fruit picking device can comprehensively analyze and predict the order, control the picking robot according to the key information points of the order, fully consider the current maturity information, the target maturity information and the like of the order in the picking process, accurately calculate the picking time, keep the taste and freshness of the fruits to the maximum extent, and enable a customer to eat satisfied fruits.
In a third aspect, the present application provides an electronic device comprising a processor and a memory, the memory storing computer readable instructions which, when executed by the processor, perform the steps in the fruit picking method as provided in the first aspect above.
In a fourth aspect, the present application provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps in the fruit picking method as provided in the first aspect above.
From the above, the fruit picking method, the fruit picking device, the electronic equipment and the storage medium provided by the application acquire order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; and generating a first control instruction according to the picking time, and sending the first control instruction to a picking robot, so that the picking robot picks when the time reaches the picking time. Therefore, the orders are comprehensively analyzed and predicted, the picking robot is controlled according to key information points of the orders, in addition, the current maturity information, the target maturity information and the like of the orders are fully considered in the picking process, the picking time is accurately calculated, the mouth feel and the freshness of fruits are kept to the maximum extent, and customers can eat satisfied fruits.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
Fig. 1 is a flow chart of a fruit picking method provided by the present application.
Fig. 2 is a first structural schematic diagram of the fruit picking device provided by the application.
Fig. 3 is a schematic structural diagram of an electronic device provided in the present application.
Fig. 4 is a schematic view of a first structure of a fruit picking management system provided by the present application.
Fig. 5 is a schematic view of a second structure of the fruit picking management system provided by the present application.
Description of reference numerals:
101. an order management system; 102. a picking robot; 103. an e-commerce platform; 104. a user terminal; 201. a first acquisition module; 202. a second acquisition module; 203. a calculation module; 204. a generation module; 3. an electronic device; 301. a processor; 302. a memory; 303. a communication bus.
Detailed Description
The technical solutions in the present application will be described clearly and completely with reference to the drawings in the present application, and it should be understood that the described embodiments are only a part of the embodiments in the present application, and not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
In practical application, a plurality of picking robots and an order management system are arranged in an orchard or a greenhouse, the order management system is used for receiving order information from various E-commerce platforms (such as Taobao, Jingdong, Mei Tuo, Amazon and the like), and the picking robots are in communication connection with the order management system.
Referring to fig. 1, fig. 1 is a flow chart of a fruit picking method according to some embodiments of the present disclosure. The method comprises the following steps:
s1, obtaining order information; the order information comprises target maturity information;
s2, obtaining current maturity information of the fruits;
s3, calculating picking time according to the current maturity information and the target maturity information;
and S4, generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot to enable the picking robot to pick when the time reaches the picking time.
In practical application, the fruit picking method can be applied to an order management system 101 of a fruit picking management system shown in fig. 4 and 5, wherein the fruit picking management system comprises the order management system 101 and at least one picking robot 102, the picking robot 102 is in communication connection with the order management system 101, the order management system 101 is in communication connection with a user terminal 104 (shown in fig. 4) or the order management system 101 is in communication connection with a user terminal 104 (shown in fig. 5) through an e-commerce platform 103; the order management system 101 receives the order information and controls the picking robot 102 to pick the fruit according to the order information.
The fruit picking method can comprehensively analyze and predict the order, control the picking robot 102 according to the key information points of the order, fully consider the quality requirement, the transportation distance and the like of the order in the picking process, save the subsequent sorting work to a certain extent, keep the taste and freshness of the fruits to the maximum extent and enable customers to eat satisfactory fruits.
In some embodiments, customers in various regions can place orders in various e-commerce platform 103 software (web pages, APPs or applets) of various terminal devices (e.g., terminal devices such as computers, tablets and mobile phones), and in order to ensure that customers can receive the freshest fruits, the order management system 101 receives order information in the local area or in the same city, and ensures that fruits can be delivered on the same day or at different days during picking time. Thus, the order management system 101 includes receiving order information from various e-commerce platform 103 software.
In other embodiments, the customer may also place a reservation by dialing a customer service phone of the orchard or greenhouse, or by downloading a dedicated APP from various terminal devices (e.g., computer, tablet, mobile phone, etc.). Thus, the order management system 101 also includes receiving order information from the phone and the proprietary APP.
The content of the order information may include target maturity information and arrival time, wherein the target maturity information input by the customer may be a certain value: e.g., 7 mature; a range may also be entered: for example 5 to 7 mature.
When the target maturity information input by the customer is in a range, the order management system 101 adjusts the target maturity information according to the number of other orders in the range, and takes the maturity information corresponding to the minimum number of orders as the target maturity information. Assuming that the target maturity information range is 5 to 7 mature, the order management system 101 obtains from the order database: the number of orders whose target maturity information is 5 mature is 2, the number of orders whose target maturity information is 6 mature is 5, the number of orders whose target maturity information is 7 mature is 0, and it is seen that the number of orders whose target maturity information is 7 mature is the minimum, then the order management system 101 selects 7 mature as the target maturity information. By the mode, the fruits with different ripeness degrees can be reasonably distributed while the requirements of customers are met, and the problem of insufficient sources of goods is solved.
The arrival time may also be a determined value: such as 11 months and 2 days in 2021; there may also be a range: 2 days at 11 months of 2021-5 days at 11 months of 2021. The present application is not specifically limited herein.
When the arrival time information input by the customer is in a range, the order management system 101 adjusts the arrival time information according to the delivery quantity of each day in the range, and takes the date corresponding to the minimum delivery quantity as the arrival time information. For example, assume that the arrival time is from 11/month 2/2021 to 11/month 5/2021, and the order management system 101 obtains from the order database: the shipment quantity on day 11, month 2 is 100, day 11, month 3 is 50, and the shipment quantities on days 11, months 4 to 5 are all 200, and it can be seen that the shipment quantity on day 11, month 3 is the least, and then the order management system 101 selects day 11, month 3 as the arrival time information. By the method, the delivery time and the throughput of the warehouse can be reasonably arranged, and the phenomenon that the delivery speed is influenced due to accumulation caused by excessive orders is avoided.
In some embodiments, step S2 includes: and extracting the latest fruit maturity information from a local database as the current fruit maturity information.
The picking robot 102 can be provided with a plurality of sensors and cameras serving as eyes to recognize images of plants in an orchard or a greenhouse, and the picking robot 102 can compare the images with the images in the neural network through the existing artificial intelligence training neural network to acquire the maturity information of the current fruit. In this embodiment, the fruit picking robot 102 identifies the ripeness of the fruit in the orchard or the greenhouse every a preset period, where the preset period may be 12 hours or other, and then sends the identified fruit ripeness information to the order management system 101, and the order management system 101 records the fruit ripeness information in the local database, so that the order management system 101 extracts the latest ripeness information as the current ripeness information when acquiring a new order. By the mode, the information of the maturity of the fruit can be acquired quickly, and when the number of orders is increased, the fruit picking robot 102 does not need to be frequently moved, so that the moving times of the fruit picking robot 102 are reduced, and the cost is saved.
Further, while the fruit picking robot 102 identifies the ripeness of the fruits in the orchard or the greenhouse every preset period, the fruit picking robot can record the quantity of the fruits with different ripeness, and then generate the ripeness information and the corresponding quantity information of the fruits and send the information to the order management system 101, so that the order management system 101 can update the inventory information corresponding to the fruits with different ripeness in real time. By the mode, the customer can acquire the inventory information in time, and the order placing is convenient.
Further, since there are fruits of different ripeness degrees, when the picking time comes, the fruit picking robot 102 recognizes the fruits again before picking the fruits to confirm whether the ripeness information of the fruits to be currently picked is the ripeness information expected to be picked. In this way, picking errors of the fruit picking robot 102 can be prevented, further improving the accuracy of picking.
In other embodiments, step S2 includes: and sending a second control instruction to the picking robot 102, so that the picking robot 102 performs fruit maturity recognition, and receiving the current maturity information of the fruit sent back by the picking robot 102.
In this embodiment, each time the order management system 101 receives a new order, that is, the picking robot 102 is controlled to identify the ripeness of the fruit, the picking robot 102 sends the identified ripeness information of the fruit to the order management system 101 after completing the identification, so that the order management system 101 can obtain the current ripeness information of the fruit. In this way, the most accurate fruit maturity information can be obtained.
In a further embodiment, step S3 includes:
s301, obtaining the type information of the fruits;
s302, obtaining first daily average maturity information of the fruits according to the category information;
and S303, calculating the picking time according to the average maturity information of the first day, the current maturity information and the target maturity information.
In some embodiments, the order information may include information about the type of fruit, which the order management system 101 may directly obtain. The manner of obtaining the information about the type of the fruit in step S301 may also be that the order management system 101 obtains the information from a pre-stored database of the type of the fruit, including obtaining the information by means of a code, a number, or an initial letter of english, for example, Apple is english, and the corresponding initial letter is a.
Wherein the first-day average ripeness information is an average daily increase in ripeness of the fruit when not picked. In some embodiments, after a long time of cultivation in the same environment, and the maturity of different fruit seedlings in the orchard is detected every day, a first daily average maturity information lookup table of different fruits can be obtained; the first daily average ripeness information of the fruit obtained in step S302 may be obtained from a pre-stored first daily average ripeness information look-up table, for example: bananas, corresponding to average maturity on day: 1 maturity/day.
In a further embodiment, step S302 is followed by:
acquiring second-day average maturity information, complete maturity information and target maturity information;
and generating quality guarantee duration information according to the second-day average maturity information, the complete maturity information and the target maturity information.
Wherein the second-day average ripeness information is the average daily increase in ripeness after fruit picking. In some embodiments, obtaining the second-day average maturity information may be obtained from a pre-stored second-day average maturity information look-up table, for example: honey peaches, corresponding to the average maturity on the second day: 0.5 maturity/day.
Wherein the step of generating shelf-life duration information from the second-day average maturity information and the picking time comprises calculating shelf-life duration information according to the following formula: shelf life information = (full maturity information-target maturity information)/second day average maturity information.
In practical applications, the fruit cannot be stored for too long, otherwise the fruit is too ripe and the taste is affected and even spoils. For convenience of illustration, in the above example of the juicy peaches, the target ripeness of the customer is 8 ripeness, 10 ripeness is taken as complete ripeness, and the time between the juicy peaches growing from 8 ripeness to 10 ripeness is the information of the shelf life duration, = (complete ripeness information-target ripeness information)/the second-day average ripeness information = (10-8)/0.5 =4 days, so that the information of the shelf life duration can remind the user by labeling the juicy peaches in the fruit packaging boxes and sending a short message to the customer.
In other embodiments, the storage condition information may be obtained according to the type information of the fruit and the weather condition, wherein the storage condition information may be adjusted according to the weather condition, and thus, the shelf life information may be adjusted according to the storage condition information.
In practical application, for example, in summer, a reminding message of please cool or put in a cool place is generated; and reminding the user of the storage condition information and the shelf life information in a manner of labeling the fruit packaging box and sending a short message to the customer, wherein the label and the short message comprise the following contents: the food is preferably stored in a refrigerator and eaten within 4 days (the latest eating date: 2021, 6 months and 3 days). By the mode, a customer can know the shelf life information and the storage condition of the fruit after receiving the fruit, and the situation that the customer forgets to eat or the fruit misses the optimal appreciation period or is rotten due to improper storage is prevented.
In some embodiments, the picking time is calculated in step S303 according to the following formula:
picking time = order date + (target maturity information-current maturity information)/first day average maturity information.
Specifically, assuming that honey peaches planted in an orchard are just ripe in 100 days, namely 10 ripe, the first-day average maturity information of the honey peaches is as follows: 10 maturity/100 days =0.1 maturity/day. For example, when the target maturity information input by the customer is 8 ripeness, the date of the day when the customer places the order is 2021 year 5 month 25 day, the arrival time information is 2021 year 5 month 29 day to 2021 year 6 month 3 day, the category information is juicy peaches, and it is assumed that the current maturity information of juicy peaches acquired by the picking robot 102 in 2021 year 5 month 25 day is 7.5 ripeness, then (target maturity information-current maturity information)/first day average maturity is = (8-7.5)/0.1 =5 day, that is, the picking time is added by 5 days on the basis of 2021 year 5 month 25 day, so the order management system 101 takes 2021 year 5 month 30 day as the picking time, and generates and transmits a first control instruction to the picking robot 102 at 2021 year 5 month 30 day, so as to cause the picking robot 102 to pick; or the order management system 101 immediately sends a first control command containing the picking time to the picking robot 102, and the picking robot 102 receives the first control command and then picks the picking robot until the picking time is reached on the day date. The picking time can be calculated by adopting the average maturity information of the first day for orders which can be sent to the hands of customers on the same day after picking, so that the times of detecting the maturity of the picking robot 102 can be reduced, and the maturity of picked fruits is ensured to be in line with the expectation of customers.
In still further embodiments, the order information includes shipping address information;
after step S1 and before step S3, the method further comprises the steps of:
A1. acquiring transportation time information from a picking place to a receiving place according to the receiving address information;
step S303 includes:
and calculating the picking time according to the first-day average maturity information, the second-day average maturity information, the current maturity information, the target maturity information, the transportation time information and the arrival time information.
The order management system 101 may send the query information to the e-commerce platform 103 or the dedicated APP, and after the e-commerce platform 103 and the dedicated APP receive the query information, the order management system 101 returns the receiving address information of the order.
Wherein, in the step of calculating the picking time according to the first-day average maturity information, the second-day average maturity information, the current maturity information, the target maturity information, and the transportation time information, the picking time is calculated according to the following formula:
picking time = date of day information + of order (target maturity information-transportation time information · second-day average maturity information-current maturity information)/first-day average maturity information.
In practice, there are orders placed from another city, so there is no way to send them to the customer on the same day or every other day, and so the rate of increase in the daily maturity of the harvested fruit is considered. For example, when the picking place and the receiving place are far away (cross-city or cross-province), there is a piece of estimated transportation time information on the online shopping platform in general online shopping, and it is assumed that the transportation time information displayed on a certain e-commerce platform 103 is 3 days, and in the above-mentioned juicy peach example, when the target maturity information input by the customer is 8 ripeness, the date and time information of the day when the customer places an order is 2021 year 5 month 26 days, the arrival time information is 2021 year 5 month 29 days to 2021 year 6 month 3 days, the type information is juicy peach, and it is assumed that the current maturity information of the juicy peach obtained by the picking robot 102 at 26 days 5 months 2021 year is 6 ripeness, according to the above formula: picking time = date information on the day of the order + (target maturity information-transit time · second-day average maturity information-current maturity information)/first-day average maturity information, calculated to give: picking time =5 months, 26 days + (8-3 x 0.5-6)/0.1 day =5 months, 31 days, namely 2021, 5 months, 31 days, so that the juicy peaches transported to the hands of customers are 8 ripe. After the picking time is calculated, a first control instruction can be generated and sent to the picking robot 102 at 31 days 5 months 2021, so that the picking robot 102 picks; it is also possible to directly send the first control command containing the picking time to the picking robot 102, and the picking robot 102 waits until the date of the day reaches the picking time after receiving the first control command. In this way, customers who are far away (i.e. orders which cannot be delivered on the same day after picking) can also receive fruits with expected ripeness and eat delicious fruits, and the accuracy of determining picking time is further improved.
In some embodiments, step a1 includes:
A101. acquiring the transportation distance from a picking place to a receiving place;
A102. and calculating transportation time information according to the transportation distance.
Wherein, the calculation formula of the transportation time information comprises: transport time = transport distance/average speed of distribution.
In practical application, some orchards or greenhouses have a set of own logistics system, fruits are delivered by special vehicles or special machines, and the average delivery speed can be directly obtained. The transportation distance between the picking place and the receiving place in step a101 can be obtained by setting an existing map app or a GPS, beidou navigation system in the order management system 101, and therefore, the transportation time information can be calculated by the above formula. For example, since the distance between the picking place and the receiving place is 1200km and the average distribution speed of a special vehicle is 400 km/day, the transportation time =1200 km/(400 km/day) =3 days. In this way, the transport time information can be calculated more accurately, thereby determining a more accurate picking time.
In another embodiment, the order information includes logistics company information, and after the step S1 and before the step S3, the method further includes the steps of:
and acquiring the transportation time information according to the logistics company information.
Specifically, the order management system 101 sends the inquiry logistics information to the logistics company, and the logistics company sends the transportation time information to the order management system 101 after receiving the inquiry logistics information. In practical application, some customers can select a specific logistics company on an order by themselves, for example, logistics companies such as china postal service or shunfeng, and the distribution vehicles and the distribution average speeds of different logistics companies are different, so that the transportation time can be determined according to the logistics companies. The order management system 101 of the orchard and the greenhouse (picking place) can establish a cooperative relationship with other logistics companies, send a query instruction to the logistics company selected by a customer, and the logistics company directly sends the estimated transportation time to the order management system 101 after receiving the query instruction. For example, the logistics company designated by the customer in the order is a, the order management system sends an inquiry instruction to the logistics company a, the estimated transportation time of the logistics company a is 2 days, and the logistics company directly sends the estimated transportation time to the order management system 101 after receiving the inquiry instruction, that is, the acquired transportation time information is 2 days. Through the mode, the requirements of different customers on different logistics companies can be met, and then accurate logistics time is obtained and picking time is determined.
In step S4, when the date reaches the picking time, the first control command may be sent to the picking robot 102, so that the picking robot 102 picks up the picking object; the first control instruction may also include picking time, which is calculated by the order management system 101 and then sent to the picking robot 102, and the picking robot 102 starts to go to the orchard for picking until the date reaches the picking time, which is not limited in this application.
In a further embodiment, the order information includes weight information or quantity information,
step S4 includes:
the first control instruction is generated according to the picking time and the weight information, or the first control instruction is generated according to the picking time and the quantity information, and the first control instruction is sent to the picking robot 102, so that the picking robot 102 picks the fruits when the picking time is up, and picks the fruits with the corresponding weight value or quantity value. In practice, the customer may also note weight information or quantity information in the order. The robot is provided with a fruit basket, the fruit basket is provided with a weight sensor or a counting sensor, a corresponding weight threshold or a corresponding quantity threshold can be preset according to the weight information or the quantity information, and picking is stopped when fruits picked by the picking robot 102 exceed the preset weight threshold or quantity threshold. Thereby realize picking a dragon of weighing, need not arrange the manual work after picking again and weigh, improved work efficiency.
According to the above, the fruit picking method provided by the application acquires the order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; if the current date reaches the picking time, generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot 102, so that the picking robot 102 picks when the time reaches the picking time; therefore, the orders are comprehensively analyzed and predicted, the picking robot 102 is controlled according to the key information points of the orders, in addition, the quality requirements, the transportation distance and the like of the orders are fully considered in the picking process, the subsequent sorting work is saved to a certain extent, the mouth feel and the freshness of fruits are kept to the maximum extent, and customers can eat satisfied fruits.
Referring to fig. 2, fig. 2 shows a fruit picking apparatus applied to an order management system 101 of a picking robot 102 in some embodiments of the present application, the fruit picking apparatus being integrated in the order management system 101 in the form of a computer program, the fruit picking apparatus comprising: a first acquisition module 201, a second acquisition module 202, a calculation module 203, and a generation module 204.
The first obtaining module 201 is configured to obtain order information; the order information includes target maturity information.
Wherein, the second obtaining module 202 is configured to obtain the current ripeness information of the fruit.
Wherein, the calculating module 203 is used for calculating the picking time according to the current maturity information and the target maturity information;
the generating module 204 is configured to generate a first control instruction according to the picking time, and send the first control instruction to the picking robot 102, so that the picking robot 102 picks when the time reaches the picking time.
This fruit picking device can carry out comprehensive analysis, prediction to the order, controls picking robot 102 according to the order key information point to in picking process, fully consider the quality requirement, the transportation distance etc. of order, saved subsequent letter sorting work to a certain extent, furthest keeps the taste, the new freshness of fruit, makes the customer eat satisfied fruit.
In some embodiments, customers in various regions can place orders in various e-commerce platform 103 software (web pages, APPs or applets) of various terminal devices (e.g., terminal devices such as computers, tablets and mobile phones), and in order to ensure that customers can receive the freshest fruits, the order management system 101 receives order information in the local area or in the same city, and ensures that fruits can be delivered on the same day or at different days during picking time. Thus, the first acquisition module 201 includes receiving order information from various e-commerce platform 103 software.
In other embodiments, the customer may also place a reservation by dialing a customer service phone of the orchard or greenhouse, or by downloading a dedicated APP from various terminal devices (e.g., computer, tablet, mobile phone, etc.). Thus, the first obtaining module 201 also receives order information from the phone and the dedicated APP.
The content of the order information may include target maturity information and arrival time, wherein the target maturity information input by the customer may be a certain value: e.g., 7 mature; a range may also be entered: for example 5 to 7 mature.
When the target maturity information input by the customer is in a range, the order management system 101 adjusts the target maturity information according to the number of other orders in the range, and takes the maturity information corresponding to the minimum number of orders as the target maturity information. Assuming that the target maturity information range is 5 to 7 mature, the order management system 101 obtains from the order database: the number of orders whose target maturity information is 5 mature is 2, the number of orders whose target maturity information is 6 mature is 5, the number of orders whose target maturity information is 7 mature is 0, and it is seen that the number of orders whose target maturity information is 7 mature is the minimum, then the order management system 101 selects 7 mature as the target maturity information. By the mode, the fruits with different ripeness degrees can be reasonably distributed while the requirements of customers are met, and the problem of insufficient sources of goods is solved.
The arrival time may also be a determined value: such as 11 months and 2 days in 2021; there may also be a range: 2 days at 11 months of 2021-5 days at 11 months of 2021. The present application is not specifically limited herein.
When the arrival time information input by the customer is in a range, the order management system 101 adjusts the arrival time information according to the delivery quantity of each day in the range, and takes the date corresponding to the minimum delivery quantity as the arrival time information. For example, assume that the arrival time is from 11/month 2/2021 to 11/month 5/2021, and the order management system 101 obtains from the order database: the shipment quantity on day 11, month 2 is 100, day 11, month 3 is 50, and the shipment quantities on days 11, months 4 to 5 are all 200, and it can be seen that the shipment quantity on day 11, month 3 is the least, and then the order management system 101 selects day 11, month 3 as the arrival time information. By the method, the delivery time and the throughput of the warehouse can be reasonably arranged, and the phenomenon that the delivery speed is influenced due to accumulation caused by excessive orders is avoided.
In some embodiments, the second obtaining module 202, when obtaining the current ripeness information of the fruit, performs the following steps: and extracting the latest fruit maturity information from a local database as the current fruit maturity information.
The picking robot 102 can be provided with a plurality of sensors and cameras serving as eyes to recognize images of plants in an orchard or a greenhouse, and the artificial intelligence training neural network can compare the images with the images in the neural network to acquire the maturity information of the current fruit. In this embodiment, the fruit picking robot 102 identifies the ripeness of the fruit in the orchard or the greenhouse every a preset period, where the preset period may be 12 hours or other, and then sends the identified fruit ripeness information to the order management system 101, and the order management system 101 records the fruit ripeness information in the local database, so that the order management system 101 extracts the latest ripeness information as the current ripeness information when acquiring a new order. By the mode, the information of the maturity of the fruit can be acquired quickly, and when the number of orders is increased, the fruit picking robot 102 does not need to be frequently moved, so that the moving times of the fruit picking robot 102 are reduced, and the cost is saved.
Further, since there are fruits of different ripeness degrees, when the picking time comes, the fruit picking robot 102 recognizes the fruits again before picking the fruits to confirm whether the ripeness information of the fruits to be currently picked is the ripeness information expected to be picked. In this way, picking errors of the fruit picking robot 102 can be prevented, further improving the accuracy of picking.
Further, while the fruit picking robot 102 identifies the ripeness of the fruits in the orchard or the greenhouse every preset period, the fruit picking robot can record the quantity of the fruits with different ripeness, and then generate the ripeness information and the corresponding quantity information of the fruits and send the information to the order management system 101, so that the order management system 101 can update the inventory information corresponding to the fruits with different ripeness in real time. By the mode, the customer can acquire the inventory information in time, and the order placing is convenient. In other embodiments, the second obtaining module 202, when obtaining the current ripeness information of the fruit, performs the following steps: and sending a second control instruction to the picking robot 102, so that the picking robot 102 performs fruit maturity recognition, and receiving the current maturity information of the fruit sent back by the picking robot 102.
In this embodiment, each time the order management system 101 receives a new order, that is, the picking robot 102 is controlled to identify the ripeness of the fruit, the picking robot 102 sends the identified ripeness information of the fruit to the order management system 101 after completing the identification, so that the order management system 101 can obtain the current ripeness information of the fruit. In this way, the most accurate fruit maturity information can be obtained.
In a further embodiment, the calculation module 203 performs the following steps when calculating the picking time based on the current maturity information, the target maturity information and the arrival time information:
s301, obtaining the type information of the fruits;
s302, obtaining first daily average maturity information of the fruits according to the category information;
and S303, calculating the picking time according to the average maturity information of the first day, the current maturity information and the target maturity information.
In some embodiments, the order information may include information about the type of fruit, which the order management system 101 may directly obtain. The manner of obtaining the information about the type of the fruit in step S301 may also be that the order management system 101 obtains the information from a pre-stored database of the type of the fruit, including obtaining the information by means of a code, a number, or an initial letter of english, for example, Apple is english, and the corresponding initial letter is a.
Wherein the first-day average ripeness information is an average daily increase in ripeness of the fruit when not picked. In some embodiments, after a long time of cultivation in the same environment, and the maturity of different fruit seedlings in the orchard is detected every day, a first daily average maturity information lookup table of different fruits can be obtained; the first daily average ripeness information of the fruit obtained in step S302 may be obtained from a pre-stored first daily average ripeness information look-up table, for example: bananas, corresponding to average maturity on day: 1 maturity/day.
In a further embodiment, step S302 is followed by:
acquiring second-day average maturity information, complete maturity information and target maturity information;
and generating quality guarantee duration information according to the second-day average maturity information, the complete maturity information and the target maturity information.
Wherein the second-day average ripeness information is the average daily increase in ripeness after fruit picking. In some embodiments, obtaining the second-day average maturity information may be obtained from a pre-stored second-day average maturity information look-up table, for example: honey peaches, corresponding to the average maturity on the second day: 0.5 maturity/day.
Wherein the step of generating shelf-life duration information from the second-day average maturity information comprises calculating shelf-life duration information according to the following formula: shelf life information = (full maturity information-target maturity information)/second day average maturity information.
In practical applications, the fruit cannot be stored for too long, otherwise the fruit is too ripe and the taste is affected and even spoils. For convenience of illustration, in the above example of the juicy peaches, the target ripeness of the customer is 8 ripeness, 10 ripeness is taken as complete ripeness, and the time between the juicy peaches growing from 8 ripeness to 10 ripeness is the information of the shelf life duration, = (complete ripeness information-target ripeness information)/the second-day average ripeness information = (10-8)/0.5 =4 days, so that the information of the shelf life duration can remind the user by labeling the juicy peaches in the fruit packaging boxes and sending a short message to the customer.
In other embodiments, the storage condition information may be obtained according to the type information of the fruit and the weather condition, wherein the storage condition information may be adjusted according to the weather condition, and thus, the shelf life information may be adjusted according to the storage condition information.
In practical application, for example, in summer, a reminding message of please cool or put in a cool place is generated; and reminding the user of the storage condition information and the shelf life by labeling the fruit packaging box and sending a short message to the customer, wherein the label and the short message comprise the following contents: the food is preferably stored in a refrigerator and eaten within 4 days (the latest eating date: 2021, 6 months and 3 days). By the mode, a customer can know the shelf life information and the storage condition of the fruit after receiving the fruit, and the situation that the customer forgets to eat or the fruit misses the optimal appreciation period or is rotten due to improper storage is prevented.
In some embodiments, the picking time is calculated in step S303 according to the following formula:
picking time = order date + (target maturity information-current maturity information)/first day average maturity information.
Specifically, assuming that honey peaches planted in an orchard are just ripe in 100 days, namely 10 ripe, the first-day average maturity information of the honey peaches is as follows: 10 maturity/100 days =0.1 maturity/day. For example, when the target maturity information input by the customer is 8 ripeness, the date of the day when the customer places the order is 2021 year 5 month 25 day, the arrival time information is 2021 year 5 month 29 day to 2021 year 6 month 3 day, the category information is juicy peaches, and it is assumed that the current maturity information of juicy peaches acquired by the picking robot 102 in 2021 year 5 month 25 day is 7.5 ripeness, then (target maturity information-current maturity information)/first day average maturity is = (8-7.5)/0.1 =5 day, that is, the picking time is added by 5 days on the basis of 2021 year 5 month 25 day, so the order management system 101 takes 2021 year 5 month 30 day as the picking time, and generates and transmits a first control instruction to the picking robot 102 at 2021 year 5 month 30 day, so as to cause the picking robot 102 to pick; or the order management system 101 immediately sends a first control command containing the picking time to the picking robot 102, and the picking robot 102 receives the first control command and then picks the picking robot until the picking time is reached on the day date. The picking time can be calculated by adopting the average maturity information of the first day for orders which can be sent to the hands of customers on the same day after picking, so that the times of detecting the maturity of the picking robot 102 can be reduced, and the maturity of picked fruits is ensured to be in line with the expectation of customers.
In still further embodiments, the order information includes shipping address information;
the device further comprises a third acquisition module, wherein the third acquisition module is used for acquiring transportation time information from the picking place to the receiving place according to the receiving address information after the first acquisition module 201 acquires the order information and before the calculation module 203 calculates the picking time according to the current maturity information and the target maturity information;
step S303 includes:
and calculating the picking time according to the first-day average maturity information, the second-day average maturity information, the current maturity information, the target maturity information, the transportation time information and the arrival time information.
The order management system 101 may send the query information to the e-commerce platform 103 or the dedicated APP, and after the e-commerce platform 103 and the dedicated APP receive the query information, the order management system 101 returns the receiving address information of the order.
Wherein, in the step of calculating the picking time according to the first-day average maturity information, the second-day average maturity information, the current maturity information, the target maturity information, and the transportation time information, the picking time is calculated according to the following formula:
picking time = date of day information + of order (target maturity information-transportation time information · second-day average maturity information-current maturity information)/first-day average maturity information.
In practice, there are orders placed from another city, so there is no way to send them to the customer on the same day or every other day, and so the rate of increase in the daily maturity of the harvested fruit is considered. For example, when the picking place and the receiving place are far away (cross-city or cross-province), there is a piece of estimated transportation time information on the online shopping platform in general online shopping, and it is assumed that the transportation time information displayed on a certain e-commerce platform 103 is 3 days, and in the above-mentioned juicy peach example, when the target maturity information input by the customer is 8 ripeness, the date and time information of the day when the customer places an order is 2021 year 5 month 26 days, the arrival time information is 2021 year 5 month 29 days to 2021 year 6 month 3 days, the type information is juicy peach, and it is assumed that the current maturity information of the juicy peach obtained by the picking robot 102 at 26 days 5 months 2021 year is 6 ripeness, according to the above formula: picking time = date information on the day of the order + (target maturity information-transit time · second-day average maturity information-current maturity information)/first-day average maturity information, calculated to give: picking time =5 months, 26 days + (8-3 x 0.5-6)/0.1 day =5 months, 31 days, namely 2021, 5 months, 31 days, so that the juicy peaches transported to the hands of customers are 8 ripe. After the picking time is calculated, a first control instruction can be generated and sent to the picking robot 102 at 31 days 5 months 2021, so that the picking robot 102 picks; it is also possible to directly send the first control command containing the picking time to the picking robot 102, and the picking robot 102 waits until the date of the day reaches the picking time after receiving the first control command. In this way, customers who are far away (i.e. orders which cannot be delivered on the same day after picking) can also receive fruits with expected ripeness and eat delicious fruits, and the accuracy of determining picking time is further improved.
In some embodiments, step a1 includes:
A101. acquiring the transportation distance from a picking place to a receiving place;
A102. and calculating transportation time information according to the transportation distance.
Wherein, the calculation formula of the transportation time information comprises: transport time = transport distance/average speed of distribution.
In practical application, some orchards or greenhouses have a set of own logistics system, fruits are delivered by special vehicles or special machines, and the average delivery speed can be directly obtained. The transportation distance between the picking place and the receiving place in step a101 can be obtained by setting an existing map app or a GPS, beidou navigation system in the order management system 101, and therefore, the transportation time information can be calculated by the above formula. For example, since the distance between the picking place and the receiving place is 1200km and the average distribution speed of a special vehicle is 400 km/day, the transportation time =1200 km/(400 km/day) =3 days. In this way, the transport time information can be calculated more accurately, thereby determining a more accurate picking time.
In another embodiment, the order information includes logistics company information, the apparatus further includes a fourth obtaining module, the fourth obtaining module is configured to, after the first obtaining module 201 obtains the order information and before the calculating module 203 calculates the picking time according to the current maturity information and the target maturity information,
and acquiring the transportation time information according to the logistics company information.
Specifically, the order management system 101 sends the inquiry logistics information to the logistics company, and the logistics company sends the transportation time information to the order management system 101 after receiving the inquiry logistics information. In practical application, some customers can select a specific logistics company on an order by themselves, for example, logistics companies such as china postal service or shunfeng, and the distribution vehicles and the distribution average speeds of different logistics companies are different, so that the transportation time can be determined according to the logistics companies. The order management system 101 of the orchard and the greenhouse (picking place) can establish a cooperative relationship with other logistics companies, send a query instruction to the logistics company selected by a customer, and the logistics company directly sends the estimated transportation time to the order management system 101 after receiving the query instruction. For example, the logistics company designated by the customer in the order is a, the order management system 101 sends an inquiry instruction to the logistics company a, the estimated transportation time of the logistics company a is 2 days, and the logistics company directly sends the estimated transportation time to the order management system 101 after receiving the inquiry instruction, that is, the acquired transportation time information is 2 days. Through the mode, the requirements of different customers on different logistics companies can be met, and then accurate logistics time is obtained and picking time is determined.
The generating module 204 generates a first control instruction according to the picking time, and sends the first control instruction to the picking robot 102, so that when the picking robot 102 picks when the time reaches the picking time, or when the time reaches the picking time, the first control instruction is sent to the picking robot 102, so that the picking robot 102 picks; the first control instruction may also include picking time, which is calculated by the order management system 101 and then sent to the picking robot 102, and the picking robot 102 starts to go to the orchard for picking until the date reaches the picking time, which is not limited in this application.
In a further embodiment, the order information includes weight information or quantity information, and the generating module 204 is configured to generate the first control command according to the picking time and the weight information, or generate the first control command according to the picking time and the quantity information, and send the first control command to the picking robot 102, so that the picking robot 102 picks the fruit when the picking time is reached, and picks the fruit with the corresponding weight value or quantity value.
In practice, the customer may also note weight information or quantity information in the order. The robot is provided with a fruit basket, the fruit basket is provided with a weight sensor or a counting sensor, a corresponding weight threshold or a corresponding quantity threshold can be preset according to the weight information or the quantity information, and picking is stopped when fruits picked by the picking robot 102 exceed the preset weight threshold or quantity threshold. Thereby realize picking a dragon of weighing, need not arrange the manual work after picking again and weigh, improved work efficiency.
From the above, the fruit picking device provided by the application acquires order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; if the current date reaches the picking time, generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot to enable the picking robot to pick when the time reaches the picking time; therefore, the orders are comprehensively analyzed and predicted, the picking robot is controlled according to the key information points of the orders, in the picking process, the quality requirements, the transportation distance and the like of the orders are fully considered, the subsequent sorting work is omitted to a certain extent, the taste and the freshness of fruits are kept to the maximum extent, and customers can eat satisfied fruits.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure, where the present disclosure provides an electronic device 3, including: the processor 301 and the memory 302, the processor 301 and the memory 302 being interconnected and communicating with each other via a communication bus 303 and/or other form of connection mechanism (not shown), the memory 302 storing a computer program executable by the processor 301, the computer program being executable by the processor 301 when the computing device is running to perform the method in any of the alternative implementations of the above embodiments when the processor 301 executes the computer program to perform the following functions: acquiring order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; and generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot, so that the picking robot picks when the time reaches the picking time.
The embodiment of the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the computer program executes the method in any optional implementation manner of the foregoing embodiment to implement the following functions: acquiring order information; the order information comprises target maturity information; acquiring current maturity information of the fruit; calculating picking time according to the current maturity information and the target maturity information; and generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot, so that the picking robot picks when the time reaches the picking time. The storage medium may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A fruit picking method is applied to an order management system and is characterized by comprising the following steps:
s1, obtaining order information; the order information comprises target maturity information;
s2, obtaining current maturity information of the fruits;
s3, calculating picking time according to the current maturity information and the target maturity information;
and S4, generating a first control instruction according to the picking time, and sending the first control instruction to the picking robot to enable the picking robot to pick when the time reaches the picking time.
2. The fruit picking process of claim 1, wherein the step S3 includes:
s301, obtaining the fruit type information;
s302, obtaining first daily average maturity information of the fruits according to the category information;
s303, calculating the picking time according to the first daily average maturity information, the current maturity information and the target maturity information.
3. The fruit picking process of claim 2, wherein step S302 is followed by:
acquiring second-day average maturity information, complete maturity information and target maturity information;
and generating quality guarantee duration information according to the second-day average maturity information, the complete maturity information and the target maturity information.
4. The fruit picking process of claim 3, wherein the order information includes shipping address information;
after the step S1 and before the step S3, the method further comprises the steps of:
A1. acquiring transportation time information from a picking place to a receiving place according to the receiving address information;
the step S303 includes:
and calculating the picking time according to the first day average maturity information, the second day average maturity information, the current maturity information, the target maturity information and the transportation time information.
5. The fruit picking process of claim 4, wherein the step A1 includes:
A101. acquiring the transportation distance from the picking place to the receiving place;
A102. and calculating the transportation time information according to the transportation distance.
6. The fruit picking method according to claim 3, wherein the order information includes logistics company information, and after the step S1 and before the step S3, further comprising the steps of:
and acquiring transportation time information according to the logistics company information.
7. The fruit picking process of claim 1,
the order information includes weight information or quantity information, and the step S4 includes:
and generating the first control instruction according to the picking time and the weight information, or generating the first control instruction according to the picking time and the quantity information, and sending the first control instruction to the picking robot, so that the picking robot picks when the time reaches the picking time, and picks the fruits with corresponding weight values or quantity values.
8. A fruit picking device is applied to an order management system and is characterized by comprising the following modules:
a first obtaining module: the order information is acquired; the order information comprises target maturity information;
a second obtaining module: the method is used for obtaining the current maturity information of the fruit;
a calculation module: the picking time is calculated according to the current maturity information and the target maturity information;
a generation module: the picking robot is used for generating a first control instruction according to the picking time and sending the first control instruction to the picking robot so that the picking robot picks when the time reaches the picking time.
9. An electronic device comprising a processor and a memory, said memory storing computer readable instructions which, when executed by said processor, perform the steps of the fruit picking method according to any of claims 1-7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the fruit picking method according to any of claims 1-7.
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| CN114375689A (en) * | 2022-02-08 | 2022-04-22 | 辽宁科技大学 | Target maturity judging and classified storage method for agricultural picking robot |
| CN114399231A (en) * | 2022-03-24 | 2022-04-26 | 季华实验室 | Orchard inspection frequency adjusting method and device, electronic equipment and storage medium |
| CN114830971A (en) * | 2022-04-15 | 2022-08-02 | 山东浪潮科学研究院有限公司 | Automatic termitomyces albuminosus picking method, equipment and medium |
| CN116307899A (en) * | 2023-03-22 | 2023-06-23 | 荆州华洋供应链管理有限公司 | Food material supply management system and method based on artificial intelligence |
| CN117952499A (en) * | 2024-03-27 | 2024-04-30 | 成都工业职业技术学院 | Fruit selecting and transporting method |
| CN118607730A (en) * | 2024-08-08 | 2024-09-06 | 天津渤海职业技术学院 | Agricultural product logistics period optimization method and system based on big data |
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