CN117814004A - Pineapple picking device and method - Google Patents

Abstract

The invention discloses a pineapple picking device and a pineapple picking method, wherein the device comprises a picking mechanism main body, a visual identification and positioning module, a picking module, a carton forming module, a driving module and a conveying module; the picking module and the visual recognition and positioning module are both arranged on the front side of the picking mechanism main body, the driving module is arranged at the bottom of the picking mechanism main body, the carton forming module is arranged on the picking mechanism main body, and the conveying module is arranged between the picking module and the carton forming module; the two sides of the picking mechanism main body are provided with a dredging shell. The driving module drives the picking mechanism main body to move to a position close to the pineapple to be picked through the image of the pineapple to be picked acquired by the visual identification and positioning module, and then, according to the acquired image information, the picking module moves to the outer side of the pineapple to be picked so as to fix the pineapple to be picked, and further, the pineapple fruits are rotationally taken down, so that the automatic picking of the pineapple fruits is realized, and the difficulty and risk of manual operation are reduced.

Description

Pineapple picking device and method

Technical Field

The invention relates to the technical field of fruit picking devices, in particular to a pineapple picking device and a pineapple picking method.

Background

Pineapple is one of the main tropical fruits worldwide, and the yield of pineapple steadily increases in recent years, but picking pineapple mainly depends on manpower, and has the challenges of low efficiency, higher cost and the like. With the development of technology, attempts have been made to solve these problems by using semi-automatic mechanical picking devices or robotic picking devices. However, these picking methods also have the following technical problems:

1. the semi-automatic mechanical picking device still needs to be used with manpower, so that full automation cannot be realized, intermittent picking is needed when pineapple is picked, movement and picking can not be realized, picking efficiency is low, and the device is only suitable for pineapple lands with specific ridge distances and has poor universality;

2. the robot picking device needs an operator to operate the controller to control the actions of the picking claws, so that full-automatic picking cannot be realized. Because the leaves in the ridges grow luxuriantly, fruits can be blocked when picking, and the problems of inaccurate positioning, incapability of identifying, incorrect picking and the like occur. While the machine is walking, dense leaves can wind the machine body, which affects the walking and collection of the machine. The fixed wheel track of the picking robot cannot be applied to various pineapple lands, and the applicability is low; accurate picking of pineapple in the face of irregular growth direction cannot be realized.

In addition, the picking device has no modularized packing device, and the picked pineapple has no way to be processed in time, so that the labor cost is increased, and the picked pineapple is required to be packed manually. And the condition of picking can not be remotely monitored.

Disclosure of Invention

The invention aims to provide a pineapple picking device and a pineapple picking method.

To achieve the purpose, the invention adopts the following technical scheme:

a pineapple picking device comprises a picking mechanism main body, a visual identification and positioning module, a picking module, a carton forming module, a driving module and a conveying module; the picking module and the visual identification and positioning module are both arranged on the front side of the picking mechanism main body, the driving module is arranged at the bottom of the picking mechanism main body, the carton forming module is arranged on the picking mechanism main body, and the conveying module is arranged between the picking module and the carton forming module; a dredging shell is arranged on two sides of the picking mechanism main body;

the visual identification and positioning module is used for acquiring an image of the pineapple to be picked; the positioning device is used for acquiring the positioning position of the picking mechanism main body; for detecting an obstacle; the method is used for planning an acquisition path;

the driving module is used for driving the picking mechanism main body to move to a position close to the pineapple to be picked according to the picking path planned by the visual identification and positioning module;

the picking module is used for moving to the outer side of the pineapple to be picked according to the acquired image to fix the pineapple to be picked, is also used for rotationally taking off pineapple fruits, and is also used for cutting off crowns of the taken pineapple fruits;

the carton forming module is used for storing the folded cartons and is also used for unfolding and pasting the folded cartons for forming; the carton is also used for adding the formed cartons into a conveying module;

the conveying module is used for adding picked pineapples into the formed paper boxes and outputting the paper boxes filled with pineapples to the outside from one side of the picking mechanism main body.

Preferably, the picking module comprises a rotary picking mechanism and a lifting pull rod, wherein the lifting pull rod is arranged at the front side of the rotary picking assembly main body, and the rotary picking mechanism is arranged at the lifting end of the lifting pull rod;

the rotary picking mechanism comprises two picking conveyor belts, the two picking conveyor belts are arranged on the front side of the picking mechanism main body left and right, the two picking conveyor belts are arranged in opposite directions, and the two picking conveyor belts can move along the directions of approaching or separating from each other, so that pineapple to be picked is fixed between the two picking conveyor belts; the two picking conveyor belts simultaneously rotate positively or reversely, so that pineapple fruits are taken out in a rotating mode.

Preferably, the picking module further comprises a cutting mechanism comprising a cutting blade extendable above the rotary picking mechanism.

Preferably, the picking module further comprises a guiding mechanism, the guiding mechanism is arranged in front of the rotary picking mechanism, the guiding mechanism comprises two guiding arms and a plurality of pulleys arranged on the inner sides of the guiding arms in a front-back mode, the two guiding arms are respectively arranged on two sides of the rotary picking mechanism, the guiding arms are arc-shaped, and the distance between the two guiding arms is gradually reduced from being far away from the rotary picking mechanism to being close to the rotary picking mechanism.

Preferably, the conveying module comprises a rotary table, a fixed base, a roller group, a baffle conveying belt, an output conveying belt and a photoelectric sensor, wherein the fixed base is arranged on the picking mechanism main body, the rotary table is rotationally arranged on the fixed base, a plurality of notch parts are uniformly formed in the outer side of the rotary table, a conveying cavity capable of containing cartons is formed between the notch parts and the side wall of the fixed base, the fixed base is close to one side wall of the baffle conveying belt, a fruit inlet is formed in the fixed base, a carton inlet is formed in the fixed base, a boxing outlet is formed in the bottom of the fixed base, the boxing outlet is positioned on the rotating track of the notch parts, the starting end of the baffle conveying belt is arranged below the rotary picking mechanism, the tail end of the baffle conveying belt extends to the fruit inlet, the starting end of the output conveying belt is arranged below the boxing outlet, the tail end of the output conveying belt corresponds to the output outlet, the photoelectric sensor is arranged at the tail end of the baffle conveying belt, and the photoelectric sensor is used for detecting the quantity of pineapple entering the conveying cavity from the baffle conveying belt.

Preferably, the carton forming module comprises a carton storage cavity, a carton sucker, a carton sealing transverse plate, a carton sealing push rod, a scissor type push rod, a rolling type adhesive tape and a roller structure, wherein the carton storage cavity is used for storing a folded carton, the carton sucker is arranged on one side of the carton storage cavity, and the carton sucker can move along a direction close to or far away from the carton storage cavity; the box sealing transverse plate is arranged on one side of the carton storage cavity and can swing up and down; the box sealing push rod is vertically arranged at two ends of the box sealing transverse plate, and can swing up and down; the shear type push rod is arranged on one side of the carton sucker, the rolling type adhesive tape is arranged on the other side of the carton sucker, and the roller structure is arranged on two sides of the rolling type adhesive tape;

the paper box sucking disc is used for sucking the folding paper box and moving the folding paper box out of the paper box storage cavity so that the folding paper box is unfolded; the box sealing transverse plate swings from bottom to top to drive the short paper boards at the bottom of the paper box to fold; the carton sealing push rod swings downwards and upwards to drive the long paper board at the bottom of the carton to fold, and the shearing push rod pushes the folded carton to the rolling adhesive tape, so that the rolling adhesive tape seals the bottom of the carton, and the carton with the bottom sealed is pushed by the shearing push rod to enter the conveying cavity.

Preferably, the driving module comprises a crawler mechanism, a driving motor and a track adjusting mechanism, and the driving motor is connected with the input end of the crawler mechanism;

the wheel track adjusting mechanism comprises a fixed support, a movable support, an adjusting plate and a fastener, wherein the movable support is arranged on two sides of the fixed support, the crawler mechanism is arranged on the movable support, the adjusting plate is arranged on the fixed support, a connecting rod is further arranged on the movable support, the connecting rod is in sliding fit with the adjusting plate, the fastener is detachably connected with the connecting rod and the adjusting plate, and the fastener is used for fixing the connecting rod and the adjusting plate.

Preferably, the visual recognition and positioning module comprises a binocular camera, a 3D laser radar and a Beidou positioning terminal.

The invention also provides a picking method of the pineapple picking device, which comprises the following steps:

step one: adjusting the distance between crawler mechanisms at two sides of the driving module to enable the wheel track to be matched with the distance between pineapple ridges, and adding the folded cartons into carton inlets of the carton forming modules;

step two: setting a picking path;

step three: the carton forming module expands the carton and seals the bottom of the carton to form a formed carton body;

step four: identifying pineapple in a picking path, judging the maturity of the pineapple, and setting the pineapple to be picked and positioning the pineapple to be picked at the center position if the maturity of the pineapple meets the requirement;

step five: the picking module is used for approaching and fixing the pineapple to be picked according to the acquired image, taking off pineapple fruits in a rotary mode after fixing the pineapple, cutting off crowns of the taken pineapple fruits, and adding the pineapple with the crowns cut off into a formed carton under the action of the conveying module;

repeating the fourth and fifth steps until the cartons are filled, and outputting the cartons filled with pineapple to the outside of the picking mechanism main body through the conveying module;

step six: and D, repeating the third step until all pineapple with consistent maturity on the picking path is picked.

Preferably, the second step specifically includes: detecting obstacles of a ridge road through a visual identification and positioning module, detecting the dynamic position of a picking device through a Beidou positioning terminal, setting a picking path plan, uploading data to a background through 5G communication, and monitoring the action of the picking device, so that the picking device collects pineapple according to the set ridge route;

the fourth step specifically comprises: the intelligent visual recognition and positioning module is used for collecting the pineapple image on site, judging the maturity of the pineapple and recognizing the central position of the pineapple based on a model trained by yolov7, and uploading collected data.

The beneficial effects of the invention are as follows: the pineapple picking device has the advantages that the image of the pineapple to be picked, which is acquired through the visual identification and positioning module, is used for enabling the driving module to drive the picking mechanism main body to move to a position close to the pineapple to be picked, then the picking module is enabled to move to the outer side of the pineapple to be picked according to the acquired image information so as to fix the pineapple to be picked, and then the pineapple fruits are rotationally taken down, so that automatic picking of the pineapple fruits is realized, the difficulty and risk of manual operation are reduced, clamping of pineapple in different growth states can be realized, and the problem that pineapple is required to be intermittently picked in the prior art is solved. Through setting up carton forming module and transport module, realized automatic packing function for this device has the function of picking the packing integration, greatly reduced the cost of labor. The picking mechanism main body adopts a high-bed structure, so that the device can conveniently walk on various pineapple ridges, and the streamline type dredging shell is arranged on the outer side of the picking mechanism main body, so that the picking mechanism has the function of dredging plants and leaves, the walking resistance is reduced, the smoothness is high, and meanwhile, the plants and the leaves are protected.

Drawings

The present invention is further illustrated by the accompanying drawings, which are not to be construed as limiting the invention in any way.

FIG. 1 is a schematic overall construction of one embodiment of the present invention;

FIG. 2 is a schematic diagram of the internal structure of one embodiment of the present invention;

FIG. 3 is a schematic top view of one embodiment of the present invention;

FIG. 4 is an external schematic view of a picking mechanism body according to one embodiment of the invention;

FIG. 5 is a schematic view of the structure of a picking module according to one embodiment of the invention;

FIG. 6 is a schematic diagram of the transport module of one embodiment of the present invention;

FIG. 7 is a schematic diagram of a driving module according to one embodiment of the present invention;

fig. 8 is a schematic structural view of a track adjusting mechanism according to one embodiment of the present invention.

Wherein: picking mechanism main body 17, dredging shell 19, regulating plate 24, fixed bolster 20, guiding mechanism 2, pulley 3, rotary picking mechanism 4, cutting blade 5, lift pull rod 1, binocular camera 6, carton deposit department chamber 8, lid 27, carton sucking disc 9, joint sealing diaphragm 10, scissors push rod 11, roll formula sticky tape 13, carousel 14, drum structure 18, joint sealing push rod 26, delivery outlet 15, output conveyer 16, baffle conveyer belt 7, connecting rod 21, track portion 22, driving motor 23, track mechanism 12, 3D laser radar 28, big dipper positioning terminal 29, photoelectric sensor 25.

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

1-4, the pineapple picking device of the embodiment comprises a picking mechanism main body 17, a visual identification and positioning module, a picking module, a carton forming module, a driving module and a conveying module; the picking module and the visual recognition and positioning module are both arranged on the front side of the picking mechanism main body 17, the driving module is arranged at the bottom of the picking mechanism main body 17, the carton forming module is arranged on the picking mechanism main body 17, and the conveying module is arranged between the picking module and the carton forming module; the two sides of the picking mechanism main body 17 are provided with a dredging shell 19;

the visual identification and positioning module is used for acquiring an image of the pineapple to be picked; for acquiring the positioning position of the picking mechanism body 17; for detecting an obstacle; the method is used for planning an acquisition path;

the driving module is used for driving the picking mechanism main body 17 to move to a position close to the pineapple to be picked according to the picking path planned by the visual identification and positioning module;

the picking module is used for moving to the outer side of the pineapple to be picked according to the acquired image to fix the pineapple to be picked, is also used for rotationally taking down pineapple fruits, and is also used for cutting off crowns of the taken pineapple fruits;

the carton forming module is used for storing the folded cartons and is also used for unfolding and pasting the folded cartons for forming; the carton is also used for adding the formed cartons into a conveying module;

the conveying module is used for adding picked pineapple into the formed paper box and outputting the paper box filled with pineapple from one side of the picking mechanism main body 17 to the outside.

The image of waiting to pick the pineapple that is obtained through vision recognition and positioning module makes driving module drive picking mechanism main part 17 to be close to the position of waiting to pick the pineapple, makes the picking module remove the outside of waiting to pick the pineapple according to the image information who obtains in order to fix waiting to pick the pineapple, and then rotatory take off the pineapple fruit, has realized picking the automation of pineapple fruit, has reduced manual operation's degree of difficulty and risk, can realize the centre gripping to different growth states pineapple, has solved the problem that needs intermittent type formula to pick the pineapple among the prior art. Through setting up carton forming module and transport module, realized automatic packing function for this device has the function of picking the packing integration, greatly reduced the cost of labor. The picking mechanism main body 17 adopts a high-bed structure, so that the device can conveniently walk on various pineapple ridges, and a streamline type dredging shell 19 is arranged on the outer side of the picking mechanism main body 17, so that the picking mechanism has the function of dredging plants and leaves, the walking resistance is reduced, the smoothness is high, and meanwhile, the plants and the leaves are protected.

Preferably, referring to fig. 5, the picking module comprises a rotary picking mechanism 4 and a lifting pull rod 1, wherein the lifting pull rod 1 is arranged at the front side of the rotary picking assembly main body, and the rotary picking mechanism is arranged at the lifting end of the lifting pull rod 1;

the rotary picking mechanism 4 comprises two fruit fixing modules and two picking conveyor belts, the two fruit fixing modules are arranged on the front side of the picking mechanism main body 17 left and right, the two picking conveyor belts are respectively arranged at the moving ends of the two fruit fixing modules, the two picking conveyor belts are arranged in opposite directions, the two fruit fixing modules respectively drive the two picking conveyor belts to move along the directions close to each other or far away from each other, so that pineapple to be picked is fixed between the two picking conveyor belts, and after pineapple to be picked is fixed, the two picking conveyor belts are simultaneously rotated forward or reversely, so that pineapple fruits are rotationally taken out.

The two picking conveyor belts are clamped by the fruit fixing module, so that the pineapple is fixed, the pineapple is picked and conveyed to be simultaneously rotated forward or reversely rotated, the telescopic twisting-off picking is realized, the pineapple picking machine is suitable for picking pineapples of different sizes and different types, and the two picking conveyor belts clamp the two sides of the pineapple, so that the rotary twisting-off picking can be carried out simultaneously with the walking of the device, and uninterrupted picking is realized. The lifting pull rod 1 is arranged to drive the rotary picking mechanism 4 to move to the pineapple to be picked, so that the flexibility and adaptability of picking are improved.

Further, picking the module and still including cutting mechanism, cutting mechanism is including stretching out jar, cutting motor and cutting blade 5, and cutting blade 5 establishes at cutting motor's pivot end, stretches out the jar and establishes the lift end at lift pull rod 1, and stretches out the jar and be located rotary picking mechanism 4's top, and cutting motor establishes the extension end at stretching out the pole.

The cutting motor is arranged at the extending end of the extending rod, after the rotary picking mechanism 4 takes down the pineapple, the cutting motor drives the cutting blade 5 to rotate, and meanwhile, the extending cylinder enables the cutting motor and the cutting blade 5 to extend out.

Preferably, the picking module further comprises a guiding mechanism 2, the guiding mechanism 2 is arranged in front of the rotary picking mechanism 4, the guiding mechanism 2 comprises two guiding arms and a plurality of pulleys 3 arranged on the inner sides of the guiding arms in a front-back mode, the two guiding arms are respectively arranged on two sides of the rotary picking mechanism 4, the guiding arms are arc-shaped, and the distance between the two guiding arms is gradually reduced from being far away from the rotary picking mechanism 4 to being close to the rotary picking mechanism 4.

Through establishing two guide arms of arc respectively in the both sides of rotary picking mechanism 4 for the distance between two guide arms is by keeping away from rotary picking mechanism 4 to be close to rotary picking mechanism 4 and reduce gradually, is used for guiding the pineapple of different shapes and sizes to be close to between two picking conveyer belts of rotary picking mechanism 4, is convenient for pick the conveyer belt and to be fixed to the pineapple, has improved accuracy and efficiency of picking the pineapple. By arranging a plurality of pulleys 3 inside the guide arm, friction between the guide arm and the pineapple is reduced. In other embodiments, the pulley 3 may be configured as a drive wheel that moves the pineapple between the picking conveyor.

Preferably, referring to fig. 6, the conveying module includes a turntable 14, a fixed base, a roller group, a baffle conveying belt 7, an output conveying belt 16 and a photoelectric sensor 25, the fixed base is arranged on the picking mechanism main body 17, the turntable 14 is rotatably arranged on the fixed base, a plurality of notch parts are uniformly formed on the outer side of the turntable 14, a conveying cavity capable of accommodating cartons is formed between the notch parts and the side wall of the fixed base, a fruit inlet is formed on one side wall of the fixed base, which is close to the baffle conveying belt 7, a carton inlet is formed on one side wall of the fixed base, a boxing outlet is formed on the bottom of the fixed base, the boxing outlet is positioned on the rotating track of the notch parts, the starting end of the baffle conveying belt 7 is arranged below the rotary picking mechanism 4, the tail end of the baffle conveying belt 7 extends to the fruit inlet, the starting end of the output conveying belt 16 is arranged below the boxing outlet, the tail end of the output conveying belt 16 corresponds to the output port 15, the photoelectric sensor 25 is arranged at the tail end of the baffle conveying belt 7, and the photoelectric sensor 25 is used for detecting the quantity of pineapples entering the conveying cavity from the baffle conveying belt 7.

By arranging the turntable 14 on the fixed base in a rotating way, a plurality of notch parts are uniformly formed on the outer side of the turntable 14, a conveying cavity capable of accommodating cartons is formed between the notch parts and the side wall of the fixed base, and each conveying cavity can accommodate a single carton;

the cartons are formed under the action of the carton forming modules and added into one of the conveying cavities, under the rotation of the rotary table 14, the conveying cavity in which the cartons are positioned is moved to be close to the fruit inlet, pineapple fruits are picked by the rotary picking mechanism 4, fall into the cartons in the conveying cavity after passing through the baffle conveying belt 7 and the fruit inlet, the photoelectric sensor 25 calculates the number of pineapple loaded in each carton, when the number of pineapple reaches a set value, the rotary table 14 continues to rotate, drives the conveying cavity to move to the position above the boxing outlet, so that the cartons filled with pineapple fall onto the output conveying belt 16 through the boxing outlet, and the cartons filled with pineapple are output to the picking mechanism main body 17, so that automatic picking and automatic boxing of one box of pineapple are completed. Therefore, the automatic boxing of pineapples is realized by arranging the conveying module, the processes of carton forming, pineapple picking and pineapple boxing are independent, mutual actions are prevented from being influenced, and the picking efficiency is improved. Through the cooperation of carousel 14, baffle conveyer belt 7, output conveyer belt 16 and photoelectric sensor 25, realized that the pineapple is quick, accurate carries and vanning count function, improved the work efficiency of picking and the quality of fruit.

Preferably, the carton forming module comprises a carton storage cavity 8, a carton sucker 9, a carton sealing transverse plate 10, a carton sealing push rod 26, a scissor type push rod 11, a rolling type adhesive tape 13 and a roller structure 18, wherein the carton storage cavity 8 is used for storing a folded carton, the carton sucker 9 is arranged at one side of the carton storage cavity 8, and the carton sucker 9 can move along the direction close to or far away from the carton storage cavity 8; the box sealing transverse plate 10 is arranged at one side of the carton storage cavity 8, and the box sealing transverse plate 10 can swing up and down; the box sealing push rods 26 are vertically arranged at two ends of the box sealing transverse plate 10, and the box sealing push rods 26 can swing up and down; the shear type push rod 11 is arranged on one side of the carton sucker 9, the rolling type adhesive tape 13 is arranged on the other side of the carton sucker 9, and the roller structure 18 is arranged on two sides of the rolling type adhesive tape 13;

the paper box sucker 9 is used for sucking the folded paper box and moving the folded paper box out of the paper box storage cavity 8 so as to enable the folded paper box to be unfolded; the box sealing transverse plate 10 swings from bottom to top to drive the short paper boards at the bottom of the paper boxes to fold; the carton sealing push rod 26 swings from bottom to top to drive the long paper plates at the bottoms of the cartons to fold, the shearing push rod 11 pushes the folded cartons to the rolling adhesive tape 13, the rolling adhesive tape 13 seals the bottoms of the cartons, and the cartons with the bottom sealed with the adhesive enter the conveying cavity under the pushing of the shearing push rod 11.

The carton forming module of this embodiment deposits chamber 8 with folding carton, is equipped with detachable lid 27 on the chamber 8 is deposited to the carton, and folding carton can reduce the space that the carton was deposited, increases the quantity that the carton was deposited, can hold more pineapples simultaneously, has reduced the frequency of adding the carton to save down time, improve picking efficiency. After the folding carton is absorbed and unfolded by the carton sucker 9, the two carton sealing transverse plates 10 are firstly opened at the carton bottom sealing position, the short carton at the bottom of the carton is firstly folded, then the two carton sealing push rods 26 are opened, and the long carton at the bottom of the carton is folded. The scissor type push rod 11 opens the push rod inwards, and the rolling type adhesive tape 13 with the spring automatically sticks to the bottom of the paper box according to the pushing of the paper box, so that the paper box can be automatically unfolded and sealed, and the automatic forming of the paper box is realized.

Preferably, referring to fig. 7 and 8, the driving module includes a crawler mechanism 12, a driving motor 23 and a track adjusting mechanism, wherein the driving motor 23 is connected with an input end of the crawler mechanism 12 so as to drive the crawler portion 22 to roll;

the track adjustment mechanism comprises a fixed support 20, a movable support, an adjusting plate 24 and fasteners, wherein the movable support is arranged on two sides of the fixed support 20, the crawler 12 is arranged on the movable support, the adjusting plate 24 is arranged on the fixed support 20, the movable support is also provided with a connecting rod 21, the connecting rod 21 is in sliding fit with the adjusting plate 24, the fasteners are detachably connected with the connecting rod 21 and the adjusting plate 24, and the fasteners are used for fixing the connecting rod 21 and the adjusting plate 24.

By arranging the crawler 12 on the picking mechanism main body 17 and driving the crawler 12 to roll through the driving motor 23, the device can stably move in the ridges, is suitable for different terrains and soil conditions, and improves the adaptability and stability of movement. The adjusting plate 24 is provided with 4 screw holes, when the wheel track is to be adjusted, the distance between the two crawler mechanisms 12 can be adjusted by loosening the fastening pieces and pushing the connecting rod 21 to enable the movable bracket and the fixed bracket 20 to move relatively, and when the screw holes on the connecting rod 21 are aligned with the screw holes on the adjusting plate 24, the wheel track can be adjusted and fixed by fastening the fastening pieces. Therefore, by arranging the wheel tread adjusting mechanism, the wheel tread between the two crawler mechanisms 12 can be adjusted according to actual use scenes, and the device is suitable for pineapple lands with different planting widths and has strong universality; meanwhile, the tire adopts a four-wheel crawler type, so that the tire can adapt to different rugged terrains.

Preferably, the visual recognition and positioning module comprises a binocular camera 6, a 3D lidar 28 and a Beidou positioning terminal 29. The information such as the position and the size of the pineapple can be accurately identified by the image processing and the identification technology through the acquisition of the pineapple images to be picked by the binocular camera 6. The 3D laser radar 28 can quickly acquire three-dimensional information of surrounding environment, including terrains, obstacles and the like, so that the obstacles in the ridges can be avoided, accurate positioning and navigation information can be provided for the device, and the planned picking route is more reasonable. The Beidou positioning terminal 29 is used for providing high-precision positioning service, so that an operator can conveniently determine the accurate position and movement track of the device in the picking process.

The embodiment also provides a picking method of the pineapple picking device, which comprises the following steps:

step one: adjusting the distance between crawler mechanisms at two sides of the driving module to enable the wheel track to be matched with the distance between pineapple ridges, and adding the folded cartons into carton inlets of the carton forming modules;

step two: detecting obstacles of a ridge road through a visual identification and positioning module, detecting the dynamic position of a picking device through a Beidou positioning terminal, setting a picking path plan, uploading data to a background through 5G communication, and monitoring the action of the picking device, so that the picking device collects pineapple according to the set ridge route;

step three: the carton forming module expands the carton and seals the bottom of the carton to form a formed carton body;

step four: the intelligent visual recognition and positioning module is used for collecting the pineapple image on site, judging the maturity of the pineapple and recognizing the central position of the pineapple based on a model trained by yolov7, and uploading collected data. The method comprises the steps of carrying out a first treatment on the surface of the

Step five: the picking module is used for approaching and fixing the pineapple to be picked according to the acquired image, taking off pineapple fruits in a rotary mode after fixing the pineapple, cutting off crowns of the taken pineapple fruits, and adding the pineapple with the crowns cut off into a formed carton under the action of the conveying module;

repeating the fourth and fifth steps until the cartons are filled, and outputting the cartons filled with pineapple to the outside of the picking mechanism main body 17 through the conveying module;

step six: and D, repeating the third step until all pineapple with consistent maturity on the picking path is picked.

The picking method of the picking device realizes full automation and modularization, is matched with the intelligent recognition system based on yolov7 to realize automatic picking, simultaneously innovatively adds an automatic packing function, realizes integration of picking and packing, and greatly reduces labor cost.

In the embodiment, the pineapple is identified by adopting an identification system based on the yolov7 neural network, the identification precision is up to 98%, and the detection speed of the neural network is optimized by adopting modes of multi-scale feature fusion, self-adaptive convolution and the like of the yolov 7. The method has the advantages of keeping the rapid identification speed, and further improving the detection precision by improving methods such as backbone networks, so that the pineapple identification and detection are rapid and accurate. In addition, carrying an internet of things cloud platform, and carrying out data acquisition on pineapples and machines by using internet of things terminal hardware, wherein photoelectric sensors collect the number of picked pineapples and the number of packed cartons; the Beidou positioning terminal and the 3D laser radar acquire dynamic position information of a machine, and position navigation and road obstacle detection are carried out. The Internet of things system can simultaneously control a plurality of pineapple picking machines to work, so that the working efficiency is greatly improved; the maturity of pineapple was collected based on the binocular camera 6 of python+raspberry pie 3b+yolo7 for data statistics. And the Beidou positioning terminal is installed to realize positioning and data acquisition, so that the working condition and the operation quality are monitored remotely.

The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims (10)

1. The pineapple picking device is characterized by comprising a picking mechanism main body, a visual identification and positioning module, a picking module, a carton forming module, a driving module and a conveying module; the picking module and the visual identification and positioning module are both arranged on the front side of the picking mechanism main body, the driving module is arranged at the bottom of the picking mechanism main body, the carton forming module is arranged on the picking mechanism main body, and the conveying module is arranged between the picking module and the carton forming module; a dredging shell is arranged on two sides of the picking mechanism main body;

the visual identification and positioning module is used for acquiring an image of the pineapple to be picked; the positioning device is used for acquiring the positioning position of the picking mechanism main body; for detecting an obstacle; the method is used for planning an acquisition path;

the driving module is used for driving the picking mechanism main body to move to a position close to the pineapple to be picked according to the picking path planned by the visual identification and positioning module;

the picking module is used for moving to the outer side of the pineapple to be picked according to the acquired image to fix the pineapple to be picked, is also used for rotationally taking off pineapple fruits, and is also used for cutting off crowns of the taken pineapple fruits;

the carton forming module is used for storing the folded cartons and is also used for unfolding and pasting the folded cartons for forming; the carton is also used for adding the formed cartons into a conveying module;

the conveying module is used for adding picked pineapples into the formed paper boxes and outputting the paper boxes filled with pineapples to the outside from one side of the picking mechanism main body.

2. The pineapple picking apparatus of claim 1, wherein the picking module comprises a rotary picking mechanism and a lifting pull rod, the lifting pull rod is arranged at the front side of the rotary picking assembly main body, and the rotary picking mechanism is arranged at the lifting end of the lifting pull rod;

the rotary picking mechanism comprises two picking conveyor belts, the two picking conveyor belts are arranged on the front side of the picking mechanism main body left and right, the two picking conveyor belts are arranged in opposite directions, and the two picking conveyor belts can move along the directions of approaching or separating from each other, so that pineapple to be picked is fixed between the two picking conveyor belts; the two picking conveyor belts simultaneously rotate positively or reversely, so that pineapple fruits are taken out in a rotating mode.

3. A pineapple picking apparatus as claimed in claim 2 wherein the picking module further comprises a cutting mechanism comprising a cutting blade which is extendable above the rotary picking mechanism.

4. The pineapple picking apparatus as set forth in claim 2, wherein said picking module further comprises a guiding mechanism provided in front of said rotary picking mechanism, said guiding mechanism comprising two guiding arms and a plurality of pulleys provided inside said guiding arms back and forth, said two guiding arms being provided on both sides of said rotary picking mechanism, respectively, said guiding arms being arc-shaped, a distance between said two guiding arms being gradually reduced from being far from said rotary picking mechanism to being close to said rotary picking mechanism.

5. The pineapple picking device according to claim 1, wherein the conveying module comprises a rotary table, a fixed base, a roller group, a baffle conveying belt, an output conveying belt and a photoelectric sensor, the fixed base is arranged on the picking mechanism main body, the rotary table is rotatably arranged on the fixed base, a plurality of notch parts are uniformly formed in the outer side of the rotary table, a conveying cavity capable of containing cartons is formed between the notch parts and the side wall of the fixed base, a fruit inlet is formed in the position, close to one side wall of the baffle conveying belt, of the fixed base, a carton inlet is formed in the position, close to one side wall of the carton forming module, of the fixed base, a boxing outlet is formed in the bottom of the fixed base, the boxing outlet is arranged on the rotation track of the notch parts, the starting end of the baffle conveying belt is arranged below the rotary picking mechanism, the tail end of the baffle conveying belt extends to the fruit inlet, the starting end of the output conveying belt is arranged below the boxing outlet, the tail end of the output conveying belt corresponds to the electric sensor, the photoelectric sensor is arranged at the tail end of the baffle conveying belt, and the photoelectric sensor is used for detecting the quantity of pineapple conveying belts entering the pineapple conveying cavity.

6. The pineapple picking apparatus of claim 5, wherein the carton forming module comprises a carton storage cavity, a carton suction cup, a carton sealing transverse plate, a carton sealing push rod, a scissor push rod, a rolling adhesive tape and a roller structure, wherein the carton storage cavity is used for storing a folded carton, the carton suction cup is arranged at one side of the carton storage cavity, and the carton suction cup can move along a direction approaching to or separating from the carton storage cavity; the box sealing transverse plate is arranged on one side of the carton storage cavity and can swing up and down; the box sealing push rod is vertically arranged at two ends of the box sealing transverse plate, and can swing up and down; the shear type push rod is arranged on one side of the carton sucker, the rolling type adhesive tape is arranged on the other side of the carton sucker, and the roller structure is arranged on two sides of the rolling type adhesive tape;

the paper box sucking disc is used for sucking the folding paper box and moving the folding paper box out of the paper box storage cavity so that the folding paper box is unfolded; the box sealing transverse plate swings from bottom to top to drive the short paper boards at the bottom of the paper box to fold; the carton sealing push rod swings downwards and upwards to drive the long paper board at the bottom of the carton to fold, and the shearing push rod pushes the folded carton to the rolling adhesive tape, so that the rolling adhesive tape seals the bottom of the carton, and the carton with the bottom sealed is pushed by the shearing push rod to enter the conveying cavity.

7. The pineapple picking apparatus of claim 1, wherein the drive module comprises a track mechanism, a drive motor and a track adjustment mechanism, the drive motor being connected to an input of the track mechanism;

the wheel track adjusting mechanism comprises a fixed support, a movable support, an adjusting plate and a fastener, wherein the movable support is arranged on two sides of the fixed support, the crawler mechanism is arranged on the movable support, the adjusting plate is arranged on the fixed support, a connecting rod is further arranged on the movable support, the connecting rod is in sliding fit with the adjusting plate, the fastener is detachably connected with the connecting rod and the adjusting plate, and the fastener is used for fixing the connecting rod and the adjusting plate.

8. The pineapple picking module of claim 1, wherein the visual identification and positioning module comprises a binocular camera, a 3D lidar and a beidou positioning terminal.

9. A picking method of a pineapple picking apparatus as claimed in any one of claims 1 to 8, comprising the steps of:

step one: adjusting the distance between crawler mechanisms at two sides of the driving module to enable the wheel track to be matched with the distance between pineapple ridges, and adding the folded cartons into carton inlets of the carton forming modules;

step two: setting a picking path;

step three: the carton forming module expands the carton and seals the bottom of the carton to form a formed carton body;

step four: identifying pineapple in a picking path, judging the maturity of the pineapple, and setting the pineapple to be picked and positioning the pineapple to be picked at the center position if the maturity of the pineapple meets the requirement;

step five: the picking module is used for approaching and fixing the pineapple to be picked according to the acquired image, taking off pineapple fruits in a rotary mode after fixing the pineapple, cutting off crowns of the taken pineapple fruits, and adding the pineapple with the crowns cut off into a formed carton under the action of the conveying module;

repeating the fourth and fifth steps until the cartons are filled, and outputting the cartons filled with pineapple to the outside of the picking mechanism main body through the conveying module;

step six: and D, repeating the third step until all pineapple with consistent maturity on the picking path is picked.

10. A picking method of pineapple picking apparatus as set forth in claim 9, wherein,

the second step specifically comprises: detecting obstacles of a ridge road through a visual identification and positioning module, detecting the dynamic position of a picking device through a Beidou positioning terminal, setting a picking path plan, uploading data to a background through 5G communication, and monitoring the action of the picking device, so that the picking device collects pineapple according to the set ridge route;

the fourth step specifically comprises: the intelligent visual recognition and positioning module is used for collecting the pineapple image on site, judging the maturity of the pineapple and recognizing the central position of the pineapple based on a model trained by yolov7, and uploading collected data.