CN118633429B - An intelligent identification device for pineapple picking - Google Patents
An intelligent identification device for pineapple picking Download PDFInfo
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- CN118633429B CN118633429B CN202410907803.9A CN202410907803A CN118633429B CN 118633429 B CN118633429 B CN 118633429B CN 202410907803 A CN202410907803 A CN 202410907803A CN 118633429 B CN118633429 B CN 118633429B
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- 241000234671 Ananas Species 0.000 claims abstract description 125
- 238000003306 harvesting Methods 0.000 claims description 32
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 10
- 239000000835 fiber Substances 0.000 claims description 3
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
本发明公开了农业种植技术领域的一种用于菠萝采摘的智能识别设备，包括移动组件，移动组件上设有若干采摘组件和与采摘组件对应的接收组件，采摘组件均包括气泵、采收绳和对称布置的驱动腔，采收绳上设有配重块，采收绳两端均固定连接有活塞，且活塞均与相邻的驱动腔内侧壁滑动配合，任意一驱动腔靠近采收绳的侧边上开有孔，且孔布置于采收绳上方，该驱动腔通过孔与外界连通，且连通处设有第一电磁阀，还包括控制系统，控制系统用于根据菠萝的位置和成熟状态控制气泵和第一电磁阀工作，从而对采收绳形态进行调整，控制系统还用于控制接收组件工作，用以降低菠萝采摘过程中设备对菠萝植株的影响。
The invention discloses an intelligent identification device for pineapple picking in the field of agricultural planting technology. The device comprises a mobile component, on which a plurality of picking components and receiving components corresponding to the picking components are arranged. The picking components all comprise an air pump, a picking rope and symmetrically arranged driving chambers. The picking ropes are provided with counterweights. Both ends of the picking ropes are fixedly connected with pistons, and the pistons are slidably matched with the inner side walls of adjacent driving chambers. A hole is opened on the side of any driving chamber close to the picking rope, and the hole is arranged above the picking rope. The driving chamber is connected with the outside through the hole, and a first electromagnetic valve is arranged at the connection point. The device also comprises a control system, which is used to control the operation of the air pump and the first electromagnetic valve according to the position and maturity state of the pineapple, so as to adjust the shape of the picking rope. The control system is also used to control the operation of the receiving component, so as to reduce the influence of the equipment on the pineapple plants during the pineapple picking process.
Description
Technical Field
The invention belongs to the technical field of agricultural planting, and particularly relates to intelligent identification equipment for pineapple picking.
Background
Pineapple is the third largest tropical fruit crop in the world and the fourth largest tropical fruit crop in China, and is popular with consumers because of sweet and delicious taste and rich vitamin. The main planting area of pineapple in China relates to multiple provinces of Guangdong, hainan, fujian, yunnan and the like, wherein Xuwen county of Zhang Jiang, guangdong is the largest pineapple production base in China, 1 reputation from Xuwen is possessed every 3 pineapples in China, the planting area is about 35 ten thousand mu, and the annual output is more than 90 ten thousand t. Although the pineapple planting area and yield in China are in the front of the world, the field production mode and management technology are relatively backward, and are influenced by the agronomic diversity of pineapple planting, the mechanized production and management of the pineapple are difficult to implement, so that key links of planting, field management (fertilization, flower forcing, pesticide spraying and the like), harvesting, transferring and the like are basically finished by manpower. Pineapple belongs to labor-intensive industry, has short production period and large labor and work demands, and has limited development due to the problems of lack of labor and work waste in rural areas and the like in the population aging of China.
In the prior art, the manual identification picking is used, the mode of the high-clearance crawler self-propelled pineapple harvesting vehicle is assisted to pick, and the labor intensity of workers can be greatly reduced by the scheme. In the prior art, although the scheme of non-selective harvesting by combining image recognition with a flexible roller can solve the problems, the flexible roller is easy to damage pineapple seedlings and sucking buds when the scheme is used, so that subsequent seedling raising is affected. In the prior art, the scheme of combining image recognition with mechanical claws is used for selective picking, but the scheme adopts a mode of picking one by one, so that the efficiency is low, and the scheme is difficult to adapt to a use scene of picking in a large range.
Disclosure of Invention
The invention aims to provide intelligent recognition equipment for pineapple picking, which is used for reducing the influence of the equipment on pineapple plants in the pineapple picking process.
In order to achieve the purpose, the intelligent recognition equipment for picking pineapples comprises a moving assembly, wherein the moving assembly is provided with a plurality of picking assemblies and receiving assemblies corresponding to the picking assemblies, each picking assembly comprises an air pump, a picking rope and symmetrically arranged driving cavities, the picking rope is provided with balancing weights, two ends of the picking rope are fixedly connected with pistons, the pistons are in sliding fit with the inner side walls of the adjacent driving cavities, a hole is formed in one side edge, close to the picking rope, of any driving cavity, and is arranged above the picking rope, the driving cavity is communicated with the outside through the hole, a first electromagnetic valve is arranged at the communicating position, the air pump is used for driving the pistons and the receiving assemblies to work, the moving assembly is used for driving the picking assemblies and the receiving assemblies to move, and the receiving assemblies are used for receiving pineapples picked by the picking assemblies;
The control system is used for controlling the air pump and the first electromagnetic valve to work according to the position and the maturity state of the pineapple so as to adjust the form of the harvesting rope, and is also used for controlling the receiving assembly to work.
Further, the receiving assembly comprises a receiving cavity, a receiving plate is slidably matched in the receiving cavity, the receiving cavity is communicated with the air pump, a second electromagnetic valve is arranged at the communicating position, a receiving basket is arranged below the receiving plate, the receiving basket is fixedly connected with the moving assembly, and the control system is further used for controlling the second electromagnetic valve to work.
Further, the top wall of the receiving plate is fixedly connected with a plurality of fiber rings.
Further, the control system comprises a camera and a controller;
the camera is used for collecting image information containing pineapple;
the controller is used for obtaining the position information and the maturity information of pineapple according to the image information, and controls the air pump and the first electromagnetic valve to work according to the position information and the maturity information, so that the form of the harvesting rope is adjusted, and simultaneously, the air pump and the second electromagnetic valve can be controlled to work, so that the position of the receiving plate is adjusted.
Further, all be equipped with a plurality of sawtooth on the rope of gathering.
Further, the controller is also used for controlling the movement assembly to work according to the image information.
Further, the picking device also comprises a communication module, and the controller can control the communication module to work according to the image information and the working times of the picking assembly.
Further, the holes are all arranged obliquely.
Further, the moving assembly comprises a high-clearance chassis and a driving piece, the driving piece is used for driving the high-clearance chassis to work, the top wall of the high-clearance chassis is fixedly connected with a fixing frame, a rack is slidably connected onto the fixing frame, a driving cavity and a receiving cavity are formed in the rack, a receiving basket and an air pump are fixedly connected with the rack, an oil cylinder is fixedly connected onto the fixing frame and used for driving the rack to move up and down, and the controller controls the driving piece and the oil cylinder to work according to image information.
Further, the third electromagnetic valve is arranged at the communication position of the driving cavity and the air pump, and the controller controls the third electromagnetic valve to work according to the image information.
The technical principle and beneficial effects of the scheme are as follows:
the design of picking the subassembly in this equipment is through the height of the minimum position of air pump adjustment rope that gathers, makes the rope that gathers through hole etc. form the noose, and the cover is at the pineapple root, stretches the rope that gathers afterwards, and at this in-process, the rope that gathers tightens up the cutting pineapple root, drives the pineapple simultaneously and moves to oblique top to make the pineapple root fracture, accomplish the picking of pineapple. The pineapple picking device is less influenced by the pineapple planting position, can also accurately pick the pineapple when facing the pineapple with irregular growth position, and is simple in structure, and the operation difficulty and the manufacturing cost of the pineapple picking device are relatively reduced.
Compared with the scheme of using manual picking auxiliary self-propelled harvesting vehicles in the prior art, the scheme has lower manual participation rate, and greatly reduces the labor cost of pineapple picking. Compared with the scheme of non-selective harvesting by using the flexible roller, the harvesting rope used in the scheme can be used for acting on the root of the pineapple more accurately, so that the damage of equipment to pineapple plants in the pineapple picking process is greatly reduced. Meanwhile, the pineapple harvesting machine is not easily affected by the pineapple planting position, so that the pineapple harvesting machine can harvest a plurality of pineapples at one time, and compared with the scheme that the pineapples are harvested one by using the mechanical claws in the prior art, the pineapple harvesting machine has higher harvesting efficiency and can adapt to the use situation of large-scale harvesting.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is an isometric view of an embodiment of the intelligent recognition apparatus for pineapple picking of the present invention;
FIG. 2 is an isometric view of a portion of a picking assembly and receiving assembly of an embodiment of the intelligent recognition apparatus for pineapple picking of the present invention;
FIG. 3 is a partial front view of a picking assembly and receiving assembly of an embodiment of the intelligent recognition apparatus for pineapple picking of the present invention;
FIG. 4 is a cross-sectional view A-A of an embodiment of the intelligent recognition device for pineapple picking of the present invention;
FIG. 5 is a cross-sectional view B-B of an embodiment of the intelligent recognition device for pineapple picking of the present invention;
FIG. 6 is a C-C cross-sectional view of an embodiment of the intelligent recognition device for pineapple picking of the present invention;
FIG. 7 is an enlarged view of FIG. 3 at D;
FIG. 8 is an enlarged view at E in FIG. 5;
fig. 9 is a schematic circuit diagram of an embodiment of the intelligent recognition device for pineapple picking.
The reference numerals in the drawings of the specification comprise a moving component 1, a high-clearance chassis 11, a fixed frame 12, a diesel engine 13, a frame 14, an oil cylinder 15, a picking component 2, a picking rope 21, saw teeth 211, a balancing weight 22, holes 23, hoses 231, a driving cavity 24, a piston 25, a receiving component 3, a receiving plate 31, a fiber ring 311, a receiving basket 32 and a receiving cavity 33.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "vertical," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanical or electrical, or may be in communication with each other between two elements, directly or indirectly through intermediaries, as would be understood by those skilled in the art, in view of the specific meaning of the terms described above.
The following is a further detailed description of the embodiments:
An intelligent recognition device for pineapple picking comprises a moving component 1, wherein the moving component 1 comprises a high-clearance chassis 11 and a driving part, the high-clearance chassis 11 is a high-clearance crawler-type chassis in the embodiment, the driving part is preferably a diesel engine 13, the driving part is used for driving the high-clearance chassis 11 to work, the top wall of the high-clearance chassis 11 is fixedly connected with a fixing frame 12 through bolts, the diesel engine 13 is fixedly connected with the fixing frame 12 through bolts, the fixing frame 12 is slidably connected with a rack 14 through a sliding rail, the fixing frame 12 is fixedly connected with an oil cylinder 15 through bolts, the oil cylinder 15 is used for driving the rack 14 to move up and down, a plurality of picking components 2 and receiving components 3 corresponding to the picking components 2 are arranged on the moving component 1, the picking components 2 comprise an air pump, picking ropes 21 and symmetrically arranged driving cavities 24, the driving cavities 24 are respectively arranged on the rack 14, a balancing weight 22 is fixedly adhered to the center position of the picking ropes 21, two ends of each driving rope 21 are fixedly adhered to pistons 25, each piston 25 is slidably matched with the inner side wall of the adjacent driving cavity 24, any driving cavity 24 is close to the side edge of each picking rope 21 and is provided with a driving hole 23, the driving cavity 23 is respectively arranged on the side edge of the picking rope 21 and is communicated with the air pump 23 through a hose hole 231 and the other end of the driving component 231, and the driving component is communicated with the air pump hole 231 is arranged in the hose hole 231 through the hose hole 231, and the hose hole 231 is communicated with the other end of the driving component 2; the receiving components 3 comprise receiving cavities which are arranged on the frame 14, the receiving cavities are slidably matched with receiving plates 31, and the receiving cavities are communicated with the air pump, the control system comprises a camera and a controller, wherein the camera is fixedly connected with the frame 14 through bolts, the controller is fixedly connected with the fixed frame 12 through bolts, the camera, the first electromagnetic valve, the second electromagnetic valve and the air pump are all electrically connected with the controller, the camera is used for collecting image information containing pineapple, the controller is used for obtaining position information and maturity information of the pineapple according to the image information and controlling the air pump and the first electromagnetic valve to work according to the position information and the maturity information, so that the form of the harvesting rope 21 is adjusted, and meanwhile, the air pump and the second electromagnetic valve can be controlled to work, so that the position of the receiving plate 31 is adjusted.
The specific implementation process is as follows: in the process of using the equipment, a user starts the diesel engine 13, the diesel engine 13 drives the high-clearance chassis 11 to move, drives the equipment to move to a proper position of a pineapple field, starts the oil cylinder 15 to move the rack 14 to the position above a pineapple plant, then starts the equipment, the camera starts to collect image information of pineapples in front of the equipment, the controller determines the position of the pineapples according to the image information, judges the maturity of the pineapples according to the proportion of yellow pixel points in the image information, when the occupied proportion exceeds a set value, namely the pineapple maturity meets picking requirements, the controller controls the air pump to work, the air pump pumps air into the driving cavity 24, the air pressure of the driving cavity 24 is increased by the air, the piston 25 is pushed to move under the action of the air pressure, the distance between the two pistons 25 is shortened under the action of gravity of the balancing weight 22, the picking rope 21 is gradually folded, the lowest position of the picking rope 21 gradually moves downwards until the lowest position of the picking rope 21 moves to the root of the nearest pineapple in the image information, in the process, the controller controls the first electromagnetic valve to work, gas entering the driving cavity 24 is sprayed out through the hose 231 and the hole 23 and is sprayed above the picking rope 21, so that the gas pressure above the picking rope 21 is reduced, the picking rope 21 on the side moves obliquely upwards under the action of the gas pressure, meanwhile, due to the gravity of the balancing weight 22, only the picking rope 21 on the side is wound to the other side of the pineapple, then the controller controls the first electromagnetic valve to be closed, under the action of the gravity, the picking rope 21 forms a rope sleeve and is sleeved at the root of the pineapple, then the controller controls the gas pump to work again, the gas pressure in the driving cavity 24 is reduced, the distance between the two pistons 25 is prolonged under the action of the gas pressure, thereby stretch straight the rope 21 gradually, in this in-process harvesting rope 21 gives a diagonal ascending power to the pineapple for the pineapple root begins the fracture from the one side that keeps away from the rope 21 intersection, and the rope sling that the rope 21 formed can also give the pineapple root circumference power simultaneously, thereby accelerates the fracture of pineapple root.
In the process of controlling the air pump to suck air by the controller, the controller controls the second electromagnetic valve to be opened, so that the air in the driving cavity 24 enters the receiving cavity, the volume of the air in the receiving cavity is expanded, the air pressure rises, the receiving plate 31 is pushed to move downwards under the action of the air pressure, the position between the pineapple and the pineapple blades is reached, along with the air pump to suck air, the root of the pineapple breaks, the pineapple falls towards the direction where the harvesting ropes 21 meet, and falls on the receiving plate 31, at the moment, the controller controls the second electromagnetic valve to be closed, the air pressure in the receiving cavity is kept, the air pump is closed, and the pineapple moves along with the receiving plate 31 under the action of friction force.
After the root of the pineapple is broken and falls off from the stem of the pineapple, a user can start the diesel engine 13 again to drive the equipment forward, when the pineapple is picked up for one time after reaching the front of the next row of pineapple, the air pump is controlled to pump air into the driving cavity 24, the second electromagnetic valve is started, the air in the receiving cavity enters the driving cavity 24, at the moment, the air pressure in the receiving cavity is reduced, the receiving plate 31 is reset under the action of the air pressure, in the process, after the pineapple is contacted with the rack 14, the rack 14 limits the position of the pineapple until the receiving plate 31 is completely reset, the pineapple loses support and falls into the receiving basket 32, and one-time picking is completed.
Meanwhile, the air pressure in the receiving cavity is higher than the external air pressure, so that the air molecules in the receiving cavity are distributed more densely, the number of the air molecules in the unit volume is more, the number of the air molecules sucked in each time can be increased along with the air pump when the air pump pumps the air, compared with the scheme that the air is pumped from the external world to enter the driving cavity 24, the driving piston 25 can move more quickly, the time that the lowest position of the harvesting rope 21 reaches the root of a pineapple is shortened, the time of picking the pineapple is shortened, in addition, the design of the receiving assembly 3 is realized in the scheme, the air pump can drive the receiving assembly 3 to work when driving the picking assembly 2, so that the energy consumption of equipment work is reduced, and the use cost of the equipment is reduced.
Based on the above scheme, in order to reduce equipment moving process and take over plate 31 moving process, the pineapple breaks away from take over plate 31 surface, causes the condition that the pineapple damaged appears, take over plate 31 roof all bonds and is fixed with a plurality of fibrous rings 311, from this, in the use, the pineapple empties the in-process, after the protruding of pineapple epidermis and the sawtooth 211 etc. of pineapple leaf contacted with fibrous ring 311, the protruding of epidermis and the sawtooth 211 of leaf hook fibrous ring 311 to fix the pineapple at take over plate 31 surface, reduce the risk that the pineapple drops from take over plate 31 surface.
Based on the above scheme, for further promoting the speed that the pineapple was picked, the last uniform shaping of harvesting rope 21 has a plurality of sawtooth 211, from this, in the use, the air pump work changes the atmospheric pressure in the driving chamber 24 to drive the in-process that harvesting rope 21 stretched straight, harvesting rope 21 along the circumference motion of pineapple root, drive sawtooth 211 cutting pineapple root, thereby accelerate the fracture of pineapple root, further shorten the time of pineapple picking.
Based on the above scheme, in order to reduce the working steps of a user, the diesel engine 13 and the oil cylinder 15 are electrically connected with the controller, and the controller can also control the diesel engine 13 and the oil cylinder 15 to work according to image information, therefore, in the use process, when the pineapple root in the image information breaks, the controller controls the oil extraction machine to work, drives the equipment to continue to move forwards until the equipment moves to a thick position, reduces the workload of the user in the pineapple picking process, and simultaneously can also reduce the time wasted from the pineapple root breaking to the discovery and reaction of the user, further improves the efficiency of pineapple picking, and simultaneously, the controller can also control the oil cylinder 15 to adjust the height of the stand 14 according to the height of the pineapple in the image information, so that the stand 14 moves to the position above the highest pineapple in a row, and shortens the time required for the lowest position of the picking rope 21 to descend to the pineapple root.
Based on the above scheme, for convenient to use person manages the pineapple picking process, still include communication module, communication module is connected with the controller electricity, the controller can also control communication module work according to image information and the number of times of picking subassembly 2 work, from this, in the use of this equipment, the controller carries out preliminary evaluation to the size and the quality of getting into the pineapple of receiving basket 32 according to image information, and the number of times of picking subassembly 2 work that the corresponding according to receiving basket 32, calculate the number of the pineapple of different size quality in this receiving basket 32, carry out the check of data such as pineapple quantity when the follow-up pile is put up, shorten workman's work load in the follow-up pile process.
Based on the above-mentioned scheme, for promoting the success rate that harvesting rope 21 formed the noose, hole 23 all inclines to arrange, from this, in the use, hole 23 that inclines to arrange can make by hole 23 spun gas and the angle that drive chamber 24 formed bigger to drive the angle of the one end skew of harvesting rope 21 also bigger, hole 23 that inclines to arrange makes this equipment also be difficult for making harvesting rope 21 and pineapple collision when facing the pineapple that the distance is farther, thereby reduces the probability that the condition that harvesting rope 21 formed the noose failure appears.
Based on the above scheme, in order to facilitate the equipment to adapt to more use situations, the communicating part of the driving cavity 24 and the air pump is provided with the third electromagnetic valve, the third electromagnetic valve is electrically connected with the controller, and the controller controls the third electromagnetic valve to work according to the image information, so that in the use process, when the lowest position of the harvesting rope 21 and the root of the pineapple are not on the same vertical plane in the image information, the controller firstly controls one third electromagnetic valve to work, so that the air pump pumps air to one side, thereby changing the plane where the lowest position of the harvesting rope 21 is located, until the lowest position of the harvesting rope 21 is lowered to be adjusted to the same vertical plane as the root of the pineapple, then the horizontal plane where the lowest position of the harvesting rope 21 is changed by controlling the air pump to work, picking of the pineapple is carried out, and therefore, the occurrence of a rope sleeve failure condition caused by excessive center position of the pineapple offset harvesting rope 21 is reduced, and the equipment can adapt to pineapple fields with different planting densities.
The foregoing is merely exemplary of the present application and the specific structures and/or characteristics of the present application that are well known in the art have not been described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present application, and these should also be considered as the scope of the present application, which does not affect the effect of the implementation of the present application and the utility of the patent. The protection scope of the present application is subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (10)
1. The intelligent recognition device for picking pineapple is characterized by comprising a moving component, wherein a plurality of picking components and receiving components corresponding to the picking components are arranged on the moving component, each picking component comprises an air pump, a picking rope and symmetrically arranged driving cavities, a balancing weight is arranged on the picking rope, pistons are fixedly connected to two ends of the picking rope and are in sliding fit with the inner side walls of the adjacent driving cavities, holes are formed in the side edge, close to the picking rope, of any driving cavity, and are arranged above the picking rope, the driving cavities are communicated with the outside through the holes, a first electromagnetic valve is arranged at the communicating position, the air pump is used for driving the pistons and the receiving components to work, the moving component is used for driving the picking components and the receiving components to move, and the receiving components are used for receiving pineapple picked by the picking components;
The control system is used for controlling the air pump and the first electromagnetic valve to work according to the position and the maturity state of the pineapple so as to adjust the form of the harvesting rope, and is also used for controlling the receiving assembly to work.
2. The intelligent recognition device for picking pineapple according to claim 1, wherein the receiving assemblies comprise receiving cavities, receiving plates are slidably matched in the receiving cavities, the receiving cavities are communicated with the air pump, second electromagnetic valves are arranged at the communicating positions, receiving baskets are arranged below the receiving plates and fixedly connected with the moving assemblies, and the control system is further used for controlling the second electromagnetic valves to work.
3. The intelligent recognition device for pineapple picking of claim 2, wherein the top wall of the receiving plate is fixedly connected with a plurality of fiber loops.
4. The intelligent recognition apparatus for pineapple picking of claim 3, wherein the control system comprises a camera and a controller;
the camera is used for collecting image information containing pineapple;
The controller is used for obtaining the position information and the maturity information of pineapple according to the image information, and controls the air pump and the first electromagnetic valve to work according to the position information and the maturity information, so that the form of the harvesting rope is adjusted, and simultaneously controls the air pump and the second electromagnetic valve to work, so that the position of the receiving plate is adjusted.
5. The intelligent recognition device for pineapple picking of claim 4, wherein the picking ropes are provided with a plurality of saw teeth.
6. The intelligent recognition apparatus for pineapple picking of claim 5, wherein the controller further controls the moving assembly to operate according to the image information.
7. The intelligent recognition device for picking pineapple of claim 6, further comprising a communication module, wherein the controller further controls the communication module to operate according to the image information and the number of times the picking assembly is operated.
8. The intelligent recognition apparatus for pineapple picking of claim 7, wherein the holes are all arranged obliquely.
9. The intelligent recognition device for picking pineapple of claim 8, wherein the moving assembly comprises a high-clearance chassis and a driving piece, the driving piece is used for driving the high-clearance chassis to work, a fixing frame is fixedly connected to the top wall of the high-clearance chassis, a rack is slidably connected to the fixing frame, the driving cavity and the receiving cavity are both arranged on the rack, the receiving basket and the air pump are both fixedly connected with the rack, an oil cylinder is fixedly connected to the fixing frame and is used for driving the rack to move up and down, and the controller controls the driving piece and the oil cylinder to work according to image information.
10. The intelligent recognition device for pineapple picking of claim 9, wherein the third electromagnetic valves are arranged at the communication positions of the driving cavity and the air pump, and the controller controls the third electromagnetic valves to work according to the image information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410907803.9A CN118633429B (en) | 2024-07-08 | 2024-07-08 | An intelligent identification device for pineapple picking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410907803.9A CN118633429B (en) | 2024-07-08 | 2024-07-08 | An intelligent identification device for pineapple picking |
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| CN118633429A CN118633429A (en) | 2024-09-13 |
| CN118633429B true CN118633429B (en) | 2024-12-20 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108377726A (en) * | 2018-04-27 | 2018-08-10 | 广州大学 | A kind of pineapple picking robot |
| CN109729830A (en) * | 2019-01-31 | 2019-05-10 | 安徽省鑫矿液压机械有限责任公司 | A kind of backpack fruit picker |
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| ES2630833B1 (en) * | 2016-02-24 | 2018-05-30 | Tenias, S.A. | A FRUIT COLLECTION MACHINE IN TREE |
| CN215454054U (en) * | 2021-03-27 | 2022-01-11 | 西北农林科技大学 | Single-hand electric handheld pineapple picker |
| CN114931025A (en) * | 2022-06-01 | 2022-08-23 | 重庆文理学院 | Intelligent picking robot for small vegetables and fruits in greenhouse |
| CN116724757B (en) * | 2023-08-02 | 2024-03-15 | 中国热带农业科学院农业机械研究所 | A kind of knife suitable for picking oil palm fruits and its use method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108377726A (en) * | 2018-04-27 | 2018-08-10 | 广州大学 | A kind of pineapple picking robot |
| CN109729830A (en) * | 2019-01-31 | 2019-05-10 | 安徽省鑫矿液压机械有限责任公司 | A kind of backpack fruit picker |
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