CN115316132A - Kiwi fruit picking device and picking method - Google Patents

Abstract

A kiwi fruit picking device and a picking method are provided, the device comprises: a frame; the controller is arranged on the rack; the walking device is arranged at the bottom of the rack and is connected with the rack through a lifting mechanism, an infrared sensor is arranged on the walking device and is connected with the controller, and detected field environment information is transmitted to the controller to control the walking device to realize autonomous walking; the picking device is arranged on the rack and comprises a picking mechanism, a picking stepping motor, a crankshaft mechanism and a three-dimensional laser radar, wherein the picking stepping motor and the three-dimensional laser radar are connected with the controller, and the crankshaft mechanism is respectively connected with the picking mechanism and the picking stepping motor; the three-dimensional laser radar transmits the detected kiwi fruit spatial position and distribution density information to the controller, and the controller controls the picking stepping motor according to the kiwi fruit spatial position and distribution density information so as to control the kiwi fruit picking speed; and a conveying fruit-collecting device which is arranged on the frame corresponding to the picking device. The invention also discloses a kiwi fruit picking method using the device.

Description

Kiwi fruit picking device and picking method

Technical Field

The invention relates to a fruit picking technology, in particular to a telescopic array type kiwi fruit picking device and a telescopic array type kiwi fruit picking method.

Background

Kiwi fruit is picked and is belonged to labour intensive work, picks seasonal nature strong, and picking cycle is short, needs to invest in a large amount of manpower and material resources, and work consuming time and picking cost are higher. The development of kiwi fruit harvesting equipment with high picking efficiency, strong adaptability and low price becomes an important subject for the healthy and continuous development of the kiwi fruit industry.

In the prior art, kiwi fruit picking is mainly completed manually. With the development of modern and intelligent agriculture, a great deal of research is carried out on fruit harvesting equipment at home and abroad, but most developed fruit picking equipment adopts mechanical arms and visual identification technology to pick fruits, so that the problems of low picking efficiency, poor field adaptability, poor universality, high price, incapability of picking multiple fruits simultaneously and the like exist, and the requirement on the development of the kiwi fruit industry is difficult to meet. The picking efficiency of the kiwi fruit depends on the orchard agriculture, the picking method and the design of the structure of the end effector, and the picking method determines the structural form and the working principle of the end effector. The mode is planted to the big adoption canopy frame formula in kiwi fruit garden, and the canopy frame is the groined type, and the kiwi fruit tendril climbs and attaches the wire netting and upwards grow, and the kiwi fruit hangs perpendicularly on the canopy frame, is convenient for pick the kiwi fruit from the bottom. The fruit handle of the kiwi fruit is fragile and long, the size of the fruit handle is close to the long diameter of the fruit, and the fruit can be conveniently grabbed and picked by the end effector. Meanwhile, the kiwi fruit shed frame has a large idle space at the bottom, and is beneficial to the operation of a picking machine.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a method for solving the above mentioned defects of the prior art

In order to achieve the above object, the present invention provides a kiwi picking apparatus, including:

a frame;

a controller mounted on the frame;

the traveling device is arranged at the bottom of the rack and is connected with the rack through a lifting mechanism, and an infrared sensor is arranged on the traveling device and is used for detecting the field environment around the vehicle body; the infrared sensor is connected with the controller and transmits detected field environment information to the controller, and the controller controls the walking device to realize autonomous walking according to the field environment information;

the picking device is arranged on the rack and comprises a picking mechanism, a picking stepping motor, a crankshaft mechanism and a three-dimensional laser radar, wherein the picking stepping motor is respectively connected with the crankshaft mechanism and the controller, the crankshaft mechanism is connected with the picking mechanism, and the three-dimensional laser radar is arranged at the top end of the rack and is connected with the controller and used for identifying and positioning the space position and distribution density of kiwi fruits to be picked at the top of the rack; the three-dimensional laser radar transmits the detected kiwi fruit spatial position and distribution density information to the controller, and the controller controls the picking stepping motor according to the kiwi fruit spatial position and distribution density information so as to control the kiwi fruit picking speed; and

and the conveying and fruit collecting device is arranged on the rack corresponding to the picking device.

Foretell device is picked to kiwi fruit, wherein, picking mechanism includes that a plurality of telescopic end that are the array and arrange picks the ware, end is picked the ware and is the cylinder formula structure, including stack shell, picking ware and connecting rod, it sets up to pick the ware the top of stack shell, the one end of connecting rod with the bottom of stack shell is connected, the other end of connecting rod with crank mechanism connects.

Foretell device is picked to kiwi fruit, wherein, it includes spring hinge, snap-in plate and bolt to pick the ware, the one end of snap-in plate is passed through the spring hinge with the inner wall of barrel is connected, the bolt is installed on the barrel inner wall and be close to the other end setting of snap-in plate.

Foretell device is picked to kiwi fruit, wherein, it still includes the deflector to pick the device, the deflector passes through the guide support pole and installs the frame top, be the array on the deflector and set up a plurality of guiding holes, it installs to pick the ware in the guiding hole and follow the guiding hole reciprocates, three-dimensional laser radar installs on the top surface of deflector.

In the kiwi fruit picking device, the crank mechanism is arranged corresponding to each row of picking mechanisms, each crank mechanism is mounted on the frame through a bearing seat, each crank mechanism comprises a plurality of sequentially connected cranks and cranks, the plurality of cranks are parallel to each other, the adjacent cranks are arranged in a staggered manner, and the crank at the front end is connected with the picking stepping motor.

Foretell device is picked to kiwi fruit, wherein, carry collection fruit device including transport cylinder, collection fruit step motor and collection fruit case, collection fruit case sets up transport cylinder below, transport cylinder sets up crank mechanism below, collection fruit step motor respectively with transport cylinder and controller are connected.

The kiwi fruit picking device comprises conveying rollers, wherein the conveying rollers comprise circular rollers which are symmetrically arranged and move in opposite directions, each circular roller comprises a roller shaft, a roller body and flexible comb teeth, the roller bodies are mounted on the roller shafts, the flexible comb teeth are mounted on the surfaces of the roller bodies, picked kiwi fruits enter the fruit collecting box through the flexible comb teeth in a buffering mode, and therefore collision damage of the kiwi fruits is reduced.

Foretell device is picked to kiwi fruit, wherein, running gear includes the automobile body and installs walking wheel and in-wheel motor on the automobile body, the walking wheel with in-wheel motor connects, in-wheel motor drive the walking wheel realizes 360 degrees freedom turns to.

The kiwi fruit picking device comprises a lifting slide block and a hydraulic cylinder, wherein two ends of the lifting slide block are respectively connected with the vehicle body and the frame, and the hydraulic cylinder is installed on the vehicle body and connected with the lifting slide block.

In order to better achieve the above object, the present invention further provides a kiwi fruit picking method, wherein the kiwi fruit picking device is used for picking kiwi fruits, and the method comprises the following steps:

s100, turning on a power supply, detecting field environment information around a vehicle body by an infrared sensor and transmitting the field environment information to a controller, and controlling a walking device to drive the kiwi fruit picking device to move forwards by the controller when no obstacles exist around the vehicle body;

s200, detecting the top space of the vehicle body by using a three-dimensional laser radar, and when no kiwi fruit is detected in the top space, continuing forward movement of the kiwi fruit picking device; when the kiwi fruits are detected in the top space, the controller adjusts the picking speed by controlling the picking stepping motor according to the distribution density of the kiwi fruits;

s300, when the three-dimensional laser radar detects that the spatial position of the kiwi fruit exceeds the picking height, the controller adjusts the picking range by controlling the telescopic stroke of the lifting mechanism so as to adapt to picking of kiwi fruits with different heights; and

s400, when the infrared sensor detects that an obstacle exists in front of the vehicle body, the controller controls the walking device to stop moving forwards and controls the picking device and the conveying and fruit collecting device to stop working at the same time.

The invention has the technical effects that:

the fruit picking device can realize one-time picking of a plurality of fruits and solve the problem of low picking efficiency of the existing picking equipment. The device adopts array cylinder end effector to pick the kiwi fruit, and the stack shell is the cylinder structure, and the fruit of snatching that can be better has reduced the interference to adjacent fruit. The top of the cylinder body adopts an occlusion type spring hinge structure, the structure is simple, the applicability is strong, and the fruit picking success rate is effectively improved.

The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.

Drawings

Fig. 1 is a schematic structural view of a kiwi picking apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of an end picker according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a guide plate structure according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a crankshaft mechanism according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a conveying roller according to an embodiment of the present invention.

Wherein, the figure is marked

1 machine frame

11 big frame

12 small rack

13 picking motor fixing plate

14 fruit collecting motor fixing plate

15 support rod

2 running gear

21 travelling wheel

22 infrared sensor

23 lifting slide block

24 hydraulic cylinder

25 hub motor

26 vehicle body

3 controller

4 picking device

41 picking mechanism

411 barrel body

412 bite plate

413 spring hinge

414 bolt

415 fixed block

416 connecting rod

417 bearing bush

42 guide plate

421 guide hole

422 guide support rod

43 picking stepping motor

44 crankshaft mechanism

441 bearing seat

442 crank

443 crankshaft

45 three-dimensional laser radar

5 conveying and fruit collecting device

51 fruit collecting box

52 transport roller

521 roller shaft

522 roller body

523 flexible comb teeth

53 fruit-collecting stepping motor

Detailed Description

The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:

referring to fig. 1, fig. 1 is a schematic structural view of a kiwi picking apparatus 4 according to an embodiment of the present invention. The kiwi fruit picking device 4 of the invention comprises: a frame 1; the controller 3 is arranged on the rack 1, can comprise an industrial control host, an electric controller, a data acquisition card, an intelligent control circuit and the like, performs fusion processing on information fed back by the sensor, and feeds the information back to the execution component to adjust the working state of the picking device 4; the traveling device 2 is arranged at the bottom of the rack 1 and is connected with the rack 1 through a lifting mechanism, and the traveling device 2 is provided with an infrared sensor 22 for detecting the field environment around the vehicle body 26; the infrared sensor 22 is connected with the controller 3 and transmits detected field environment information to the controller 3, and the controller 3 controls the walking device 2 to realize autonomous walking according to the field environment information; the picking device 4 is mounted on the rack 1 and comprises a picking mechanism 41, a picking stepping motor 43, a crankshaft mechanism 44 and a three-dimensional laser radar 45, the picking stepping motor 43 is respectively connected with the crankshaft mechanism 44 and the controller 3, the crankshaft mechanism 44 is connected with the picking mechanism 41, and the three-dimensional laser radar 45 is mounted at the top end of the rack 1 and connected with the controller 3 and used for identifying and positioning the spatial position and distribution density of kiwi fruits to be picked at the top of the rack 1; the three-dimensional laser radar 45 transmits the detected kiwi fruit spatial position and distribution density information to the controller 3, and the controller 3 controls the picking stepping motor 43 according to the kiwi fruit spatial position and distribution density information to control the kiwi fruit picking speed; and a conveying and fruit-collecting device 5 mounted on the frame 1 corresponding to the picking device 4.

According to the invention, the spatial position and the sparsity of the kiwi fruit are identified through the three-dimensional radar sensor, the field environment is detected through the infrared sensor 22, and the autonomous obstacle avoidance of the vehicle body 26 is realized. Pick the kiwi fruit through array end effector, effectively improve and pick efficiency. The fruits are combed and brushed through the drum-type flexible combing and brushing device, so that the falling damage of the picked fruits is reduced; set up collection fruit case 51 and collect the fruit, solved the postharvest fruit and collected difficult problem. The height of the picking device 4 is adjusted through the hydraulic lifting mechanism, so that the requirements of kiwi fruit picking operation at different heights are met. The controller 3 is used for adjusting the rotating speed of the crankshaft mechanism 44 to realize picking of kiwi fruits with different speeds.

Referring to fig. 2, fig. 2 is a schematic structural view of an end picker according to an embodiment of the present invention. Picking mechanism 41 of this embodiment includes a plurality of telescopic end pickers that are the array and arrange, end picker is cylinder formula structure, including stack shell 411, picker and connecting rod 416, the picker sets up the top of stack shell 411, the one end of connecting rod 416 pass through the fixed block 415 with the bottom of stack shell 411 is connected, and the bottom is the through-hole, is convenient for the whereabouts of postharvest kiwi fruit, the other end of connecting rod 416 pass through axle bush 417 with crank mechanism 44 is connected, is reciprocating motion at the vertical plane under the effect of picking step motor 43. The picker comprises a spring hinge 413, a snap plate 412 and a bolt 414, wherein one end of the snap plate 412 is connected with the inner wall of the barrel 411 through the spring hinge 413, and the bolt 414 is installed on the inner wall of the barrel 411 and is arranged close to the other end of the snap plate 412. When the end effector moves upwards, the snap plate 412 connected with the spring hinge 413 at the top flexibly collides with the kiwi fruit, the snap plate 412 moves downwards under the action of gravity of the kiwi fruit, when the fruit completely enters the barrel 411, the snap plate 412 is rapidly reset under the action of the rebound force of the spring hinge 413, and the fruit handle and the fruit are snapped and stopped in the barrel 411. When the end effector moves downwards, the snap plate 412 is fixed on the horizontal plane by the bolt 414, the fruit handle is snapped by the snap plate 412, and the fruit handle is separated from the fruit under the action of pulling force, so that the fruit is picked.

Fig. 3 and fig. 3 are schematic structural views of the guide plate 42 according to an embodiment of the present invention. In this embodiment, the picking device 4 further comprises a guide plate 42, and the end effectors are uniformly distributed on the guide plate 42 and connected to the vertical plane through a crank mechanism 44 to reciprocate. The deflector 42 is fixed on the small rack 12 on the top end of the rack 1 through a guide support rod 422, a plurality of guide holes 421 with the same size are arranged in an array on the deflector 42, the picking device is arranged in the guide holes 421 and moves up and down along the guide holes 421, and the three-dimensional laser radar 45 is fixed at the middle position on the top surface of the deflector 42 and used for detecting the spatial position distribution of the kiwi fruits in real time.

Referring to fig. 4, fig. 4 is a schematic structural diagram of a crankshaft mechanism 44 according to an embodiment of the present invention. The crank mechanism 44 of the present embodiment is disposed corresponding to each row of picking mechanism 41, and is installed and fixed on the small rack 12, each crank mechanism 44 is installed on the rack 1 through a bearing seat 441, each crank mechanism 44 includes a plurality of cranks 442 and cranks 443 connected in sequence, the plurality of cranks 442 are parallel to each other, the adjacent cranks 443 are arranged in a staggered manner, the crank 443 at the front end is connected with the picking stepper motor 43, each crank mechanism 44 moves relatively independently, and is driven by the picking stepper motor 43, and different picking speeds are achieved by adjusting the rotation speed of the picking stepper motor 43.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a conveying roller 52 according to an embodiment of the present invention. In this embodiment, the conveying and fruit collecting device 5 includes a conveying roller 52, a fruit collecting stepping motor 53 and a fruit collecting box 51, the fruit collecting box 51 is disposed below the conveying roller 52 and is mounted and fixed on the small rack 12, the conveying roller 52 is disposed below the crankshaft mechanism 44, and the fruit collecting stepping motor 53 is connected to the conveying roller 52 and the controller 3, respectively. The conveying roller 52 comprises symmetrically arranged circular rollers which move in opposite directions, each circular roller comprises a roller shaft 521, a roller body 522 and flexible comb teeth 523, the roller bodies 522 are mounted on the roller shafts 521, the flexible comb teeth 523 are mounted on the surfaces of the roller bodies 522, the roller shafts 521 are connected with a fruit collecting stepping motor 53, the fruit collecting stepping motor 53 is driven, the two roller bodies 522 rotate in opposite directions, and picked kiwi fruits are buffered and conveyed into the fruit collecting box 51 through the comb brushes of the flexible comb teeth 523 to reduce collision damage of the kiwi fruits.

In this embodiment, the traveling device 2 includes a vehicle body 26, and a traveling wheel 21 and an in-wheel motor 25 which are installed on the vehicle body 26, the vehicle body 26 is a rectangular structure, the traveling wheel 21 is connected with the in-wheel motor 25, and the in-wheel motor 25 drives the traveling wheel 21 and realizes 360-degree free steering. The lifting mechanism can adjust the height of the vehicle body 26 in real time according to information fed back by the controller 3 and comprises a lifting slide block 23 and a hydraulic cylinder 24, two ends of the lifting slide block 23 are respectively connected with the vehicle body 26 and the rack 1, and the hydraulic cylinder 24 is installed on the vehicle body 26 and connected with the lifting slide block 23. The infrared sensors 22 are respectively installed and fixed at four positions of the vehicle body 26, namely the front position, the rear position, the left position and the right position, and are used for detecting the field environment and adjusting the vehicle walking posture in time.

The kiwi fruit picking machine adopts the telescopic array type end effector to pick kiwi fruits, the end effector is of a cylindrical structure and is connected with the crankshaft 443 through the connecting rod 416, and the cylinder body 411 is fixedly arranged on the rectangular guide plate 42. The conveying roller 52 is connected through a bearing seat 441 and is fixedly installed on the small rack 12, the driving motor is divided into a picking stepping motor 43 and a fruit collecting stepping motor 53 which are respectively fixedly installed on the small rack 12 and the large rack 11, the fruit collecting box 51 and the controller 3 are fixedly installed on the large rack 11, the picking stepping motor 43 is installed on the small rack 12 through a picking motor fixing plate 13, one end of the picking motor fixing plate 13 is connected with the small rack 12, and the other end of the picking motor fixing plate 13 is supported and installed on a fruit collecting motor fixing plate 14 through a supporting rod 15; the fruit collecting stepping motor 53 is arranged on the fruit collecting motor fixing plate 14, and the fruit collecting motor fixing plate 14 is arranged on the large frame 11. The three-dimensional laser radar 45 is fixedly arranged at the center of the rectangular guide plate 42, and the infrared sensors 22 are respectively fixedly arranged on the cross beam of the vehicle body 26 above the four travelling wheels 21. The walking device 2 is of a wheel type structure and is provided with a lifting platform with automatically adjustable height, other parts are arranged on the machine frame 1, and the machine frame 1 is arranged on the lifting platform.

The kiwi fruit picking method adopts the kiwi fruit picking device 4 to pick kiwi fruits, and comprises the following steps:

step S100, turning on a power supply, detecting field environment information around the vehicle body 26 by the infrared sensor 22 and transmitting the field environment information to the controller 3, and controlling the traveling device 2 to drive the kiwi picking device 4 to travel forwards by the controller 3 when no obstacles exist around the vehicle body 26;

step S200, detecting the top space of the vehicle body 26 by the three-dimensional laser radar 45, and when no kiwi is detected in the top space, continuing to move the kiwi picking device 4 forwards; when the kiwi fruit is detected to exist in the top space, the controller 3 adjusts the picking speed by controlling the picking stepping motor 43 according to the distribution density of the kiwi fruit;

step S300, when the three-dimensional laser radar 45 detects that the space position of the kiwi fruit exceeds the picking height, the controller 3 adjusts the picking range by controlling the telescopic stroke of the lifting mechanism so as to adapt to picking of kiwi fruits with different heights; and

and S400, when the infrared sensor 22 detects that an obstacle exists in front of the vehicle body 26, the controller 3 controls the walking device 2 to stop moving forwards and controls the picking device 4 and the conveying and fruit collecting device 5 to stop working.

When the intelligent walking vehicle is in work, the power supply is turned on, the infrared sensor 22 detects the field environment information around the vehicle body 26 and transmits the information to the walking device 2, and when no obstacles exist around the vehicle body 26, the intelligent walking vehicle runs forwards. When the three-dimensional laser radar 45 detects that there is no kiwi in the headspace, the machine continues to move forward; when the kiwifruit in the top space is detected to be densely distributed, the controller 3 processes the acquired information and feeds the information back to the picking stepping motor 43, the reciprocating motion speed of the end effector is adjusted, and the picking speed of the kiwifruit is accelerated; when the three-dimensional laser radar 45 detects that the kiwi fruit spatial distribution is sparse, the rotating speed of the picking stepping motor 43 is reduced, the reciprocating speed of the end effector is reduced, and the invalid picking of the idle end effector is avoided.

In the picking process, the picking range of the end effector can be adjusted by adjusting the telescopic stroke of the hydraulic lifting mechanism so as to adapt to picking of kiwis with different heights. When the three-dimensional laser radar 45 detects that the space position of the kiwi fruit exceeds the picking height of the end effector, the controller 3 performs fusion processing on information, determines the appropriate lifting height of the rack 1, transmits the information to the hydraulic lifting mechanism, and the hydraulic cylinder 24 increases the telescopic stroke according to the feedback information and drives the lifting slide block 23 to drive the rack 1 to ascend; conversely, when the kiwi fruit is high lower, the hydraulic cylinder 24 reduces the telescopic stroke according to the feedback information, and the lifting slide block 23 drives the rack 1 to descend. When the infrared sensor 22 detects that an obstacle is in front of the vehicle body 26, the controller 3 gives a command to the traveling device 2, the vehicle body 26 stops moving forward, and the picking device 4 and the conveying and fruit-collecting device 5 stop working.

The invention solves the problems of low kiwi fruit picking efficiency, low adaptability, high price, labor shortage and high cost of the existing equipment, improves the kiwi fruit picking efficiency, greatly reduces the picking production cost and labor intensity, can realize the simultaneous picking of a plurality of fruits, effectively improves the picking efficiency and ensures the picking quality of the fruits. The invention adopts a modular structure, integrates parts with different functions and effectively improves the universality of the picking equipment. The crank 443 and connecting rod 416 mechanism is adopted to replace a mechanical arm, so that the equipment cost is greatly reduced, the defect that the picking robot can only pick single fruits is overcome, the array type end effector is adopted to be connected with the crank mechanism 44, the mechanical structure is simple and reliable, the universality is strong, the picking and collecting of a plurality of fruits are realized simultaneously, the problem that the existing picking equipment can only pick one fruit at a time is solved, and the picking machine has the advantages of high picking efficiency, simplicity in operation, strong adaptability, low price and the like. Adopt the flexible fruit structure of failing of drum-type, effectively solved the collection of postharvest kiwi fruit and fallen the damage problem, realized the mechanization and the automation of kiwi fruit picking operation.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a device is picked to kiwi fruit, its characterized in that includes:

a frame;

a controller mounted on the frame;

the traveling device is arranged at the bottom of the rack and is connected with the rack through a lifting mechanism, and an infrared sensor is arranged on the traveling device and is used for detecting the field environment around the vehicle body; the infrared sensor is connected with the controller and transmits detected field environment information to the controller, and the controller controls the walking device to realize autonomous walking according to the field environment information;

the picking device is arranged on the rack and comprises a picking mechanism, a picking stepping motor, a crankshaft mechanism and a three-dimensional laser radar, wherein the picking stepping motor is respectively connected with the crankshaft mechanism and the controller, the crankshaft mechanism is connected with the picking mechanism, and the three-dimensional laser radar is arranged at the top end of the rack and is connected with the controller and used for identifying and positioning the space position and distribution density of kiwi fruits to be picked at the top of the rack; the three-dimensional laser radar transmits the detected kiwi fruit spatial position and distribution density information to the controller, and the controller controls the picking stepping motor according to the kiwi fruit spatial position and distribution density information so as to control the kiwi fruit picking speed; and

a conveying and fruit collecting device which is arranged on the frame corresponding to the picking device.

2. The kiwi picking apparatus of claim 1, wherein the picking mechanism comprises a plurality of telescopic end pickers arranged in an array, the end pickers are cylindrical structures and comprise a barrel, pickers and a connecting rod, the pickers are arranged at the top end of the barrel, one end of the connecting rod is connected with the bottom of the barrel, and the other end of the connecting rod is connected with the crank mechanism.

3. The kiwi picking apparatus of claim 2, wherein the picker includes a spring hinge, a snap plate, and a latch, one end of the snap plate is connected to the inner wall of the barrel through the spring hinge, and the latch is mounted on the inner wall of the barrel and disposed near the other end of the snap plate.

4. The kiwi picking apparatus of claim 3, further comprising a guide plate, wherein the guide plate is mounted on the top end of the frame via a guide support rod, the guide plate is provided with a plurality of guide holes in an array, the picking device is mounted in the guide holes and moves up and down along the guide holes, and the three-dimensional lidar is mounted on the top surface of the guide plate.

5. A kiwi picking apparatus according to claim 1, 2, 3 or 4, where the crank mechanism is disposed corresponding to each row of picking mechanisms, each crank mechanism is mounted on the frame via a bearing seat, each crank mechanism includes a plurality of sequentially connected cranks and cranks, the plurality of cranks are parallel to each other, adjacent cranks are arranged in a staggered manner, and the crank at the front end is connected to the picking stepping motor.

6. The kiwi picking apparatus of claim 1, 2, 3 or 4, wherein the conveying and fruit collecting device comprises a conveying roller, a fruit collecting stepping motor and a fruit collecting box, the fruit collecting box is disposed below the conveying roller, the conveying roller is disposed below the crank mechanism, and the fruit collecting stepping motor is respectively connected with the conveying roller and the controller.

7. The kiwi picking apparatus according to claim 6, wherein the conveying rollers comprise symmetrically arranged circular rollers moving in opposite directions, the circular rollers comprise roller shafts, roller bodies and flexible comb teeth, the roller bodies are mounted on the roller shafts, the flexible comb teeth are mounted on the surfaces of the roller bodies, and picked kiwi fruits enter the fruit collecting box through the flexible comb teeth in a buffering manner so as to reduce collision damage of the kiwi fruits.

8. The kiwi picking apparatus of claim 1, 2, 3 or 4, wherein the walking apparatus comprises a vehicle body, and a walking wheel and a hub motor mounted on the vehicle body, the walking wheel is connected with the hub motor, and the hub motor drives the walking wheel and realizes 360-degree free steering.

9. The kiwi picking apparatus of claim 8, wherein the lifting mechanism comprises a lifting slider and a hydraulic cylinder, both ends of the lifting slider are respectively connected with the vehicle body and the frame, and the hydraulic cylinder is mounted on the vehicle body and connected with the lifting slider.

10. A kiwi picking method, characterized in that kiwi picking device according to any one of claims 1-9 is used for picking kiwi, comprising the following steps:

s100, turning on a power supply, detecting field environment information around a vehicle body by an infrared sensor and transmitting the field environment information to a controller, and controlling a walking device to drive the kiwi fruit picking device to move forwards by the controller when no obstacles exist around the vehicle body;

s200, detecting the top space of the vehicle body by using a three-dimensional laser radar, and when no kiwi fruit is detected in the top space, continuing forward movement of the kiwi fruit picking device; when the kiwi fruits are detected in the top space, the controller adjusts the picking speed by controlling the picking stepping motor according to the distribution density of the kiwi fruits;

s300, when the three-dimensional laser radar detects that the spatial position of the kiwi fruit exceeds the picking height, the controller adjusts the picking range by controlling the telescopic stroke of the lifting mechanism so as to adapt to picking of kiwi fruits with different heights; and

s400, when the infrared sensor detects that an obstacle exists in front of the vehicle body, the controller controls the walking device to stop moving forwards and controls the picking device and the conveying and fruit collecting device to stop working at the same time.

Images