CN115316132B - Kiwi fruit picking device and method - Google Patents
Kiwi fruit picking device and method Download PDFInfo
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- CN115316132B CN115316132B CN202211108861.2A CN202211108861A CN115316132B CN 115316132 B CN115316132 B CN 115316132B CN 202211108861 A CN202211108861 A CN 202211108861A CN 115316132 B CN115316132 B CN 115316132B
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- 244000298697 Actinidia deliciosa Species 0.000 title claims abstract description 107
- 235000009436 Actinidia deliciosa Nutrition 0.000 title claims abstract description 107
- 238000000034 method Methods 0.000 title claims abstract description 14
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 62
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000003139 buffering effect Effects 0.000 claims 1
- 239000012636 effector Substances 0.000 description 17
- 238000011161 development Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007499 fusion processing Methods 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 239000002420 orchard Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000132456 Haplocarpha Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/12—Technologies relating to agriculture, livestock or agroalimentary industries using renewable energies, e.g. solar water pumping
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Abstract
A kiwi fruit picking device and a picking method, the device comprises: a frame; the controller is arranged on the rack; the walking device is arranged at the bottom of the frame and connected with the frame through a lifting mechanism, an infrared sensor is arranged on the walking device and 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 frame and comprises a picking mechanism, a picking stepping motor, a crank shaft 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 crank shaft mechanism is respectively connected with the picking mechanism and the picking stepping motor; the three-dimensional laser radar transmits the detected spatial position and distribution density information of the kiwi fruits to the controller, and the controller controls the picking stepper motor according to the spatial position and distribution density information of the kiwi fruits so as to control the picking speed of the kiwi fruits; and the conveying fruit collecting device is arranged on the frame corresponding to the picking device. The invention also discloses a kiwi fruit picking method of the device.
Description
Technical Field
The invention relates to a fruit picking technology, in particular to a telescopic array type kiwi fruit picking device and a picking method.
Background
The kiwi fruit picking belongs to labor-intensive work, is strong in picking seasonality, short in picking period, needs to input a large amount of manpower and material resources, is time-consuming in work and is high in picking cost. The development of the kiwi fruit harvesting equipment with high picking efficiency, strong adaptability and low price becomes an important subject for the healthy and sustainable development of the kiwi fruit industry.
In the prior art, the picking of kiwi fruits is mainly finished manually. Along 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 of developed fruit picking equipment adopts a mechanical arm and a visual recognition technology to pick fruits, and the problems of low picking efficiency, low field adaptability, poor universality, high price, incapability of simultaneously picking multiple fruits and the like exist, so that the requirements of the development of the kiwi fruit industry are difficult to meet. The kiwi fruit picking efficiency depends on the agriculture of an orchard, a picking method and the design of an end effector structure, and the picking method determines the structure form and the working principle of the end effector. The mode is planted to the big-arch shelter posture of kiwi fruit orchard adoption, and the rack is the groined type, and the kiwi fruit vine climbs and grows at the wire netting upwards, and the kiwi fruit hangs on the rack, is convenient for pick the kiwi fruit from the bottom. The fruit stalks of the kiwi fruits are fragile and long, the fruit stalks are close to the fruit length and diameter, and the end effector can conveniently grasp and pick the fruits. Meanwhile, a large idle space is reserved at the bottom of the kiwi fruit trellis, so that the operation of picking machinery is facilitated.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for solving the defects in the prior art
In order to achieve the above object, the present invention provides a kiwi fruit picking device, comprising:
a frame;
a controller mounted on the frame;
the walking device is arranged at the bottom of the frame and connected with the frame through a lifting mechanism, and an infrared sensor is arranged on the walking device and 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 travelling device to realize autonomous travelling according to the field environment information;
the picking device is arranged on the rack and comprises a picking mechanism, a picking stepping motor, a crank mechanism and a three-dimensional laser radar, wherein the picking stepping motor is respectively connected with the crank mechanism and the controller, the crank mechanism is connected with the picking mechanism, and the three-dimensional laser radar is arranged at the top end of the rack and connected with the controller and is used for identifying and positioning the spatial position and the distribution density of kiwi fruits to be picked at the top of the rack; the three-dimensional laser radar transmits the detected spatial position and distribution density information of the kiwi fruits to the controller, and the controller controls the picking stepper motor according to the spatial position and distribution density information of the kiwi fruits so as to control the picking speed of the kiwi fruits; and
the conveying fruit collecting device is arranged on the frame corresponding to the picking device.
The kiwi fruit picking device comprises a plurality of telescopic tail end picking devices which are arranged in an array mode, wherein the tail end picking devices are of a cylindrical structure and comprise a barrel body, picking devices and connecting rods, the picking devices are arranged at the top end of the barrel body, one end of each connecting rod is connected with the bottom of the barrel body, and the other end of each connecting rod is connected with the crankshaft mechanism.
The kiwi fruit picking device comprises a spring hinge, a biting plate and a bolt, wherein one end of the biting plate is connected with the inner wall of the barrel body through the spring hinge, and the bolt is installed on the inner wall of the barrel body and is close to the other end of the biting plate.
The kiwi fruit picking device comprises a frame, a plurality of guide holes are formed in the frame in an array mode, the picking device is arranged in the guide holes and moves up and down along the guide holes, and the three-dimensional laser radar is arranged on the top surface of the guide plate.
The kiwi fruit picking device, wherein the crank mechanisms are arranged corresponding to each row of picking mechanisms, each crank mechanism is arranged on the frame through a bearing seat, each crank mechanism comprises a plurality of cranks and cranks which are sequentially connected, the cranks are parallel to each other, the adjacent cranks are arranged in a staggered manner, and the cranks at the front end are connected with the picking stepping motor.
The kiwi fruit picking device comprises a conveying roller, a fruit collecting stepping motor and a fruit collecting box, wherein the fruit collecting box is arranged below the conveying roller, the conveying roller is arranged below the crankshaft mechanism, and the fruit collecting stepping motor is respectively connected with the conveying roller and the controller.
The kiwi fruit picking device comprises a conveying roller and is characterized in that the conveying roller comprises a circular roller which is symmetrically arranged and moves in opposite directions, the circular roller comprises a roller shaft, a roller body and flexible comb teeth, the roller body is arranged on the roller shaft, the flexible comb teeth are arranged on the surface of the roller body, and the kiwi fruits under picking are buffered by the flexible comb teeth and enter the fruit collecting box so as to reduce collision damage of the kiwi fruits.
The kiwi fruit picking device comprises a walking device, a walking wheel and a hub motor, wherein the walking device comprises a vehicle body, the walking wheel and the hub motor are installed 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.
The kiwi fruit picking device comprises a lifting sliding block and a hydraulic cylinder, wherein two ends of the lifting sliding 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 sliding block.
In order to better achieve the above purpose, the invention also 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, wherein when no obstacle exists around the vehicle body, the controller controls a travelling device to drive the kiwi fruit picking device to travel forwards;
s200, detecting the top space of a vehicle body by using a three-dimensional laser radar, and continuously moving the kiwi fruit picking device forwards when no kiwi fruits exist in the top space; when the kiwi fruits in the top space are detected, the controller adjusts the picking speed by controlling the picking stepper 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 fruits exceeds the picking height, the controller adjusts the picking range by controlling the telescopic travel of the lifting mechanism so as to adapt to the picking of the kiwi fruits with different heights; and
and S400, when the infrared sensor detects that an obstacle exists in front of the vehicle body, the controller controls the traveling device to stop moving forwards, and simultaneously controls the picking device and the conveying fruit collecting device to stop working.
The invention has the technical effects that:
the invention can realize one-time picking of a plurality of fruits and solves 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 barrel is cylindrical structure, and the fruit of snatching that can be better has reduced the interference to adjacent fruit. The top of the barrel body adopts an engaged spring hinge structure, the structure is simple, the applicability is strong, and the fruit picking success rate is effectively improved.
The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.
Drawings
Fig. 1 is a schematic structural diagram of a kiwi fruit picking device according to an embodiment of the invention;
FIG. 2 is a schematic view of an end picker according to an embodiment of the present invention;
FIG. 3 is a schematic view of a guide plate structure according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a crankshaft mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of a conveying roller according to an embodiment of the present invention.
Wherein the symbols in the drawings are as follows
1 frame
11 big frame
12 small frame
13 picking motor fixing plate
14 fruit collecting motor fixing plate
15 support bar
2 walking device
21 travelling wheel
22 infrared sensor
23 lifting slide block
24 hydraulic cylinder
25 wheel hub motor
26 car body
3 controller
4 picking device
41 picking mechanism
411 barrel body
412 snap plate
413 spring hinge
414 bolt
415 fixing block
416 connecting rod
417 bearing bush
42 guide plate
421 guide hole
422 guide support rod
43 picking stepper motor
44 crankshaft mechanism
441 bearing seat
442 crank
443 crankshaft
45 three-dimensional laser radar
5 conveying fruit collecting device
51 fruit collection box
52 conveying roller
521 roller shaft
522 roller body
523 flexible comb teeth
53 fruit collecting step motor
Detailed Description
The structural and operational principles of the present invention are described in detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 is a schematic structural diagram of a kiwi fruit picking device 4 according to an embodiment of the invention. The kiwi fruit picking device 4 of the present invention comprises: a frame 1; the controller 3 is arranged on the frame 1 and can comprise an industrial control host, an electric controller, a data acquisition card, an intelligent control circuit and the like, and the working state of the picking device 4 is adjusted by the information feedback execution part through fusion processing of information fed back by the sensor; the walking device 2 is arranged at the bottom of the frame 1 and is connected with the frame 1 through a lifting mechanism, and an infrared sensor 22 is arranged on the walking device 2 and is used for detecting the field environment around a 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 travelling device 2 to realize autonomous travelling according to the field environment information; the picking device 4 is arranged on the frame 1 and comprises a picking mechanism 41, a picking stepping motor 43, a crank mechanism 44 and a three-dimensional laser radar 45, wherein the picking stepping motor 43 is respectively connected with the crank mechanism 44 and the controller 3, the crank mechanism 44 is connected with the picking mechanism 41, and the three-dimensional laser radar 45 is arranged at the top end of the frame 1 and is connected with the controller 3 and is used for identifying and positioning the spatial position and the distribution density of kiwi fruits to be picked at the top of the frame 1; the three-dimensional laser radar 45 transmits the detected spatial position and distribution density information of the kiwi fruits to the controller 3, and the controller 3 controls the picking stepper motor 43 according to the spatial position and distribution density information of the kiwi fruits so as to control the picking speed of the kiwi fruits; and a conveying and fruit collecting device 5 which is arranged on the frame 1 corresponding to the picking device 4.
According to the invention, the spatial position and the sparseness of the kiwi fruits are identified through the three-dimensional radar sensor, and the field environment is detected through the infrared sensor 22, so that the autonomous obstacle avoidance of the vehicle body 26 is realized. The kiwi fruits are picked through the array type end effector, so that the picking efficiency is effectively improved. The fruits are combed through the roller type flexible combing brush, so that falling damage of the picked fruits is reduced; the fruit collection box 51 is arranged to collect fruits, so that the problem that the collected fruits are difficult to collect is solved. The height of the picking device 4 is adjusted through the hydraulic lifting mechanism so as to meet the requirements of kiwi fruit picking operations at different heights. The rotation speed of the crank mechanism 44 is adjusted by the controller 3, so that kiwi fruits with different speeds are picked.
Referring to fig. 2, fig. 2 is a schematic view of an end picker according to an embodiment of the present invention. The picking mechanism 41 of this embodiment includes a plurality of telescopic terminal pickers that are array arrangement, terminal pickers are the drum type structure, including stack shell 411, pickers and connecting rod 416, the picker sets up the top of stack shell 411, the one end of connecting rod 416 pass through fixed block 415 with the bottom of stack shell 411 is connected, and the bottom is the through-hole, the whereabouts of the kiwi fruit after being convenient for picking, 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 picking device comprises a spring hinge 413, a meshing plate 412 and a plug 414, one end of the meshing plate 412 is connected with the inner wall of the barrel 411 through the spring hinge 413, and the plug 414 is installed on the inner wall of the barrel 411 and is close to the other end of the meshing plate 412. When the end effector moves upwards, the biting plate 412 connected with the spring hinge 413 at the top collides flexibly with the kiwi fruit, the biting plate 412 moves downwards under the action of gravity of the kiwi fruit, and when the fruit completely enters the barrel 411, the biting plate 412 is quickly reset under the action of the rebound force of the spring hinge 413, and the fruit stalks and the fruit are bitten and stay in the barrel 411. When the end effector moves downwards, the engaging plate 412 is fixed on the horizontal plane by the bolt 414, the fruit stalks are engaged by the engaging plate 412, and the fruit stalks are separated from the fruits under the action of the pulling force, so that the picking of the fruits is completed.
Referring to fig. 3, fig. 3 is a schematic view of a guide plate 42 according to an embodiment of the present invention. In this embodiment, the picking device 4 further includes a guide plate 42, and the end effectors are uniformly distributed on the guide plate 42 and connected to the vertical plane by a crank mechanism 44 to reciprocate. The guide plate 42 is fixedly installed on the small frame 12 at the top end of the frame 1 through the guide support rods 422, a plurality of guide holes 421 with the same size are arranged on the guide plate 42 in an array mode, the picking device is installed in the guide holes 421 and moves up and down along the guide holes 421 in a reciprocating mode, and the three-dimensional laser radar 45 is fixedly installed at the middle position on the top surface of the guide plate 42 and used for detecting the spatial position distribution of kiwi fruits in real time.
Referring to fig. 4, fig. 4 is a schematic diagram of a crankshaft mechanism 44 according to an embodiment of the present invention. The crank mechanisms 44 of this embodiment are disposed corresponding to each row of picking mechanisms 41, and are mounted and fixed on the small frame 12, each crank mechanism 44 is mounted on the frame 1 through a bearing seat 441, each crank mechanism 44 includes a plurality of cranks 442 and cranks 443 that are sequentially connected, a plurality of cranks 442 are parallel to each other, adjacent cranks 443 are arranged in a staggered manner, the cranks 443 at the front end are connected with the picking stepper motor 43, and each crank mechanism 44 moves relatively independently and is driven by the picking stepper motor 43, so that different picking speeds are achieved by adjusting the rotational speed of the picking stepper motor 43.
Referring to fig. 5, fig. 5 is a schematic view 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 stepper 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 frame 12, the conveying roller 52 is disposed below the crank mechanism 44, and the fruit-collecting stepper motor 53 is respectively connected with the conveying roller 52 and the controller 3. The conveying roller 52 comprises a circular roller which is symmetrically arranged and moves in opposite directions, the circular roller comprises a roller shaft 521, a roller body 522 and flexible comb teeth 523, the roller body 522 is arranged on the roller shaft 521, the flexible comb teeth 523 are arranged on the surface of the roller body 522, the roller shaft 521 is connected with a fruit collecting stepping motor 53, the fruit collecting stepping motor 53 drives the two roller bodies 522 to rotate in opposite directions, and picked kiwi fruits are conveyed into the fruit collecting box 51 through the comb brush buffer of the flexible comb teeth 523, so that collision damage of the kiwi fruits is reduced.
In this embodiment, the running gear 2 includes a vehicle body 26, and a running wheel 21 and a wheel hub motor 25 mounted on the vehicle body 26, the vehicle body 26 has a rectangular structure, the running wheel 21 is connected with the wheel hub motor 25, and the wheel hub motor 25 drives the running wheel 21 and realizes 360 degrees of free steering. The lifting mechanism can adjust the height of the vehicle body 26 in real time according to the feedback information of the controller 3, and comprises a lifting slide block 23 and a hydraulic cylinder 24, wherein two ends of the lifting slide block 23 are respectively connected with the vehicle body 26 and the frame 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 arranged and fixed at four positions of the front, rear, left and right of the vehicle body 26 and are used for detecting field environments and timely adjusting the walking posture of the vehicle.
The kiwi fruits are picked by adopting the telescopic array type end effector, the end effector is of a cylindrical structure, the end effector is connected with a crankshaft 443 through a connecting rod 416, and the barrel 411 is fixedly arranged on the rectangular guide plate 42. The conveying roller 52 is connected through a bearing seat 441 and is fixedly arranged on the small frame 12, the driving motor is divided into a picking stepper motor 43 and a fruit collecting stepper motor 53 which are respectively arranged and fixed on the small frame 12 and the large frame 11, the fruit collecting box 51 and the controller 3 are fixedly arranged on the large frame 11, the picking stepper motor 43 is arranged on the small frame 12 through a picking motor fixing plate 13, one end of the picking motor fixing plate 13 is connected with the small frame 12, and the other end of the picking motor fixing plate 13 is supported and installed on the fruit collecting motor fixing plate 14 through a supporting rod 15; the fruit collecting stepper motor 53 is mounted on the fruit collecting motor fixing plate 14, and the fruit collecting motor fixing plate 14 is mounted on the large frame 11. The three-dimensional laser radar 45 is installed and fixed at the center of the rectangular guide plate 42, and the infrared sensors 22 are respectively installed and fixed 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, a lifting platform with the height capable of being automatically adjusted is arranged, other parts are all arranged on the frame 1, and the 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 a vehicle body 26 by an infrared sensor 22 and transmitting the field environment information to a controller 3, wherein when no obstacle exists around the vehicle body 26, the controller 3 controls a travelling device 2 to drive the kiwi fruit picking device 4 to travel forwards;
step S200, detecting the top space of the vehicle body 26 by the three-dimensional laser radar 45, and when no kiwi fruits are detected in the top space, continuing to move forward by the kiwi fruit picking device 4; when the kiwi fruits in the top space are detected, the controller 3 adjusts the picking speed by controlling the picking stepper motor 43 according to the distribution density of the kiwi fruits;
step S300, when the three-dimensional laser radar 45 detects that the spatial position of the kiwi fruits exceeds the picking height, the controller 3 adjusts the picking range by controlling the telescopic travel of the lifting mechanism so as to adapt to the picking of the kiwi fruits with different heights; and
in step S400, when the infrared sensor 22 detects that there is an obstacle in front of the vehicle body 26, the controller 3 controls the traveling device 2 to stop moving forward, and simultaneously controls the picking device 4 and the fruit conveying and collecting device 5 to stop working.
In operation, the power supply is turned on, the infrared sensor 22 detects the field environment information around the vehicle body 26, and the information is transmitted to the running gear 2, and when no obstacle exists around the vehicle body 26, the machine runs forward. When the three-dimensional lidar 45 detects that the headspace is free of kiwi fruits, the machine continues to move forward; when the fact that the distribution of the kiwi fruits in the top space is dense is detected, the controller 3 processes the collected information and feeds the information back to the picking stepper motor 43, the reciprocating speed of the end effector is adjusted, and the kiwi fruit picking speed is increased; when the three-dimensional laser radar 45 detects that the spatial distribution of the kiwi fruits is sparse, the rotating speed of the picking stepper motor 43 is reduced, the reciprocating speed of the end effector is reduced, and ineffective 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 travel of the hydraulic lifting mechanism so as to adapt to the picking of kiwi fruits with different heights. When the three-dimensional laser radar 45 detects that the spatial position of the kiwi fruits exceeds the picking height of the end effector, the controller 3 carries out fusion processing on the information, determines the proper lifting height of the frame 1, transmits the information to the hydraulic lifting mechanism, and the hydraulic cylinder 24 increases the telescopic travel according to the fed-back information to drive the lifting slide block 23 to drive the frame 1 to lift; conversely, when the height of the kiwi fruits is low, the hydraulic cylinder 24 reduces the telescopic travel according to the feedback information, and the lifting slide block 23 drives the frame 1 to descend. When the infrared sensor 22 detects that an obstacle exists in front of the vehicle body 26, the controller 3 gives an instruction 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 simultaneous picking of multiple fruits, effectively improves the picking efficiency and ensures the picking quality of the fruits. The invention adopts a modularized structure, integrates parts with different functions, and effectively improves the universality of 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 a picking robot can only pick single fruit is overcome, the array end effector is connected with the crank mechanism 44, the mechanical structure is simple and reliable, the universality is high, the picking and collection of a plurality of fruits is realized, the problem that the existing picking equipment can only pick one fruit at a time is solved, and the picking equipment has the advantages of high picking efficiency, simplicity in operation, strong adaptability, low price and the like. Adopt the flexible defeated fruit structure of drum-type, effectively solved the collection and the damage problem that falls of postharvest kiwi fruit, realized the mechanization and the automation of kiwi fruit picking operation.
Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The utility model provides a device is picked to kiwi fruit which characterized in that includes:
a frame;
a controller mounted on the frame;
the walking device is arranged at the bottom of the frame and connected with the frame through a lifting mechanism, and an infrared sensor is arranged on the walking device and 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 travelling device to realize autonomous travelling according to the field environment information;
the picking device is arranged on the rack and comprises a picking mechanism, a picking stepping motor, a crank mechanism and a three-dimensional laser radar, wherein the picking stepping motor is respectively connected with the crank mechanism and the controller, the crank mechanism is connected with the picking mechanism, and the three-dimensional laser radar is arranged at the top end of the rack and connected with the controller and is used for identifying and positioning the spatial position and the distribution density of kiwi fruits to be picked at the top of the rack; the three-dimensional laser radar transmits the detected spatial position and distribution density information of the kiwi fruits to the controller, and the controller controls the picking stepper motor according to the spatial position and distribution density information of the kiwi fruits so as to control the picking speed of the kiwi fruits; and
the conveying fruit collecting device is arranged on the frame corresponding to the picking device;
the picking mechanism comprises a plurality of telescopic tail end picking devices which are arranged in an array manner, wherein each tail end picking device is of a cylindrical structure and comprises a cylinder body, a picking device and a connecting rod, the picking device is arranged at the top end of the cylinder body, one end of each connecting rod is connected with the bottom of the cylinder body, and the other end of each connecting rod is connected with the crankshaft mechanism;
the crankshaft mechanisms are arranged corresponding to each row of picking mechanisms, each crankshaft mechanism is mounted on the rack through a bearing seat and comprises a plurality of cranks and cranks which are sequentially connected, the cranks are parallel to each other, the adjacent cranks are arranged in a staggered manner, and the cranks at the front end are connected with the picking stepping motor;
the fruit conveying and collecting device comprises a conveying roller, a fruit collecting stepping motor and a fruit collecting box, wherein the fruit collecting box is arranged below the conveying roller, the conveying roller is arranged below the crankshaft mechanism, and the fruit collecting stepping motor is respectively connected with the conveying roller and the controller.
2. The kiwi fruit picking device of claim 1, wherein the picker comprises a spring hinge, a bite plate and a bolt, one end of the bite plate is connected with the inner wall of the barrel through the spring hinge, and the bolt is mounted on the inner wall of the barrel and is arranged close to the other end of the bite plate.
3. The kiwi fruit picking device of claim 2, further comprising a guide plate mounted on the top end of the frame via a guide support bar, wherein a plurality of guide holes are arranged in an array on the guide plate, the picker is mounted in the guide holes and moves up and down along the guide holes, and the three-dimensional laser radar is mounted on the top surface of the guide plate.
4. The kiwi fruit picking device of claim 1, 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 the kiwi fruits under picking enter the fruit collecting box through the flexible comb teeth in a buffering mode so as to reduce collision damage of the kiwi fruits.
5. The kiwi fruit picking device of claim 1, 2, 3 or 4, wherein the walking device comprises a vehicle body, and a walking wheel and a hub motor mounted on the vehicle body, wherein the walking wheel is connected with the hub motor, and the hub motor drives the walking wheel and realizes 360-degree free steering.
6. The kiwi fruit picking device of claim 5, wherein the lifting mechanism comprises a lifting slide block and a hydraulic cylinder, 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.
7. A method for picking kiwi fruits, characterized in that the kiwi fruits are picked by the kiwi fruit picking device according to any one of claims 1 to 6, 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, wherein when no obstacle exists around the vehicle body, the controller controls a travelling device to drive the kiwi fruit picking device to travel forwards;
s200, detecting the top space of a vehicle body by using a three-dimensional laser radar, and continuously moving the kiwi fruit picking device forwards when no kiwi fruits exist in the top space; when the kiwi fruits in the top space are detected, the controller adjusts the picking speed by controlling the picking stepper 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 fruits exceeds the picking height, the controller adjusts the picking range by controlling the telescopic travel of the lifting mechanism so as to adapt to the picking of the kiwi fruits with different heights; and
and S400, when the infrared sensor detects that an obstacle exists in front of the vehicle body, the controller controls the traveling device to stop moving forwards, and simultaneously controls the picking device and the conveying fruit collecting device to stop working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN106233937A (en) * | 2016-05-10 | 2016-12-21 | 西北农林科技大学 | A kind of array extension type mechanical arm kiwifruit fruit picking robot |
| CN106941882A (en) * | 2017-03-23 | 2017-07-14 | 西北农林科技大学 | The automatic picking end effector of fruit more than cam move toward one another formula Kiwi berry in a row |
| CN207519170U (en) * | 2017-12-07 | 2018-06-22 | 梁平县西科农业发展有限公司 | A kind of Kiwi berry device for picking |
| CN211267734U (en) * | 2019-10-25 | 2020-08-18 | 广西师范大学 | Fruit picking device |
| JP2021093968A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
| CN113287418A (en) * | 2021-05-21 | 2021-08-24 | 山东交通学院 | Fruit collecting device for auxiliary picking machine and adjusting method of device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112243698B (en) * | 2020-10-22 | 2021-08-13 | 安徽农业大学 | Automatic walnut picking and collecting method based on multi-sensor fusion technology |
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|---|---|---|---|---|
| CN106233937A (en) * | 2016-05-10 | 2016-12-21 | 西北农林科技大学 | A kind of array extension type mechanical arm kiwifruit fruit picking robot |
| CN106941882A (en) * | 2017-03-23 | 2017-07-14 | 西北农林科技大学 | The automatic picking end effector of fruit more than cam move toward one another formula Kiwi berry in a row |
| CN207519170U (en) * | 2017-12-07 | 2018-06-22 | 梁平县西科农业发展有限公司 | A kind of Kiwi berry device for picking |
| CN211267734U (en) * | 2019-10-25 | 2020-08-18 | 广西师范大学 | Fruit picking device |
| JP2021093968A (en) * | 2019-12-18 | 2021-06-24 | 株式会社デンソー | End effector |
| CN113287418A (en) * | 2021-05-21 | 2021-08-24 | 山东交通学院 | Fruit collecting device for auxiliary picking machine and adjusting method of device |
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