CN216163542U

CN216163542U - String-shaped tomato picking robot based on machine vision function

Info

Publication number: CN216163542U
Application number: CN202122715983.5U
Authority: CN
Inventors: 宋国柱; 罗改芳; 武海文; 孙胜; 王堃; 景超; 宋海燕; 胡杰
Original assignee: Shanxi Agricultural University
Current assignee: Shanxi Agricultural University
Priority date: 2021-11-08
Filing date: 2021-11-08
Publication date: 2022-04-05
Anticipated expiration: 2031-11-08

Abstract

The utility model discloses a string-type tomato picking robot based on a machine vision function, which comprises a fixed box and a lifting mechanism, wherein a lifting plate is arranged on one side of the lifting mechanism, a connecting box is fixedly connected to the bottom of the lifting plate, an electric telescopic rod is fixedly connected to the inner wall of the connecting box, a picking basket is movably connected to the other end of the electric telescopic rod through a pin shaft, a weight inductor is arranged on the inner wall of the bottom of the picking basket, a steering engine holder is fixedly connected to the top of a storage box, a high-definition camera is fixedly connected to the top of the steering engine holder, a cutting mechanism used for picking string-type tomatoes is arranged in the storage box, a master controller is arranged on the top of the fixed box, a collecting box is fixedly connected to the top of the fixed box corresponding to the picking basket, a movable plate is movably connected to the inner wall of the collecting box, a damping mechanism is arranged at the bottom of the movable plate, and wheels are arranged at the bottom of the fixed box. The utility model can not only improve the agricultural productivity, but also realize the scale, diversification and precision of agricultural production.

Description

String-shaped tomato picking robot based on machine vision function

Technical Field

The utility model relates to the technical field of tomato picking, in particular to a string-type tomato picking robot based on a machine vision function.

Background

The planting area of the fruits and the vegetables in China accounts for 20.39% of the total planting area of the fruits and the vegetables in the world, wherein the tomatoes have the largest planting area and the largest total production amount in China, the annual output of the tomatoes is 6000 million tons, and the tomato planting area accounts for 7.1% of the total production amount of the vegetables in China.

The tomato picking is mainly completed manually, the picking cost is 1.05 ten thousand yuan/hm 2, the tomato picking cost accounts for more than 30% of the total production cost, and the labor input accounts for 50% -70% of the whole planting link.

The aging of the population in China is aggravated, the population of agricultural workers is greatly reduced, the picking cost is inevitably higher and higher due to low-efficiency manual picking, and the manual picking operation is difficult to adapt to the market development requirement along with the prevalence of large-scale and industrialized planting industry. The existing picking robot mostly adopts a single grabbing mode, and the picking efficiency is poor. The height adjustment is not flexible on a specific mechanical structure, and the picking device is difficult to adapt to an actual picking scene. In-process is picked to the tomato, needs manual control to participate in, and the tomato can't be accurate after picking to calculate after the tomato picks and pick quantity and empty the basket automatically, and is automatic not enough, and collects the inside effect that does not have certain shock attenuation buffering of basket, when carrying out the tomato and empting, causes the damage to the tomato easily, inconvenient people's use.

SUMMERY OF THE UTILITY MODEL

For solving the shortcoming and the deficiency of the prior art, the string-type tomato picking robot based on the machine vision function is provided, so that the agricultural productivity can be improved, the problem of insufficient labor force is solved, the labor intensity of farmers is reduced, the labor comfort of the farmers is improved, the operation cost is reduced, the agricultural production mode can be changed, and the scale, the diversification and the precision of agricultural production are realized.

The string-type tomato picking robot based on the machine vision function comprises a fixed box, wherein the top of the fixed box is fixedly connected with a baffle plate through a fixed plate, the top of the fixed box is provided with a lifting mechanism, one side of the lifting mechanism is provided with a lifting plate, the bottom of the lifting plate is fixedly connected with a connecting box, the inner wall of the connecting box is fixedly connected with an electric telescopic rod, the other end of the electric telescopic rod is movably connected with a picking basket through a pin shaft, the inner wall of the bottom of the picking basket is provided with a weight inductor, the other side of the bottom of the picking basket is movably connected with the top of the lifting plate through a pin shaft, the top of the lifting plate is fixedly connected with a supporting plate, one side of the supporting plate is fixedly connected with a storage box, the top of the storage box is fixedly connected with a steering engine holder, and the top of the steering engine holder is fixedly connected with a high-definition camera, deposit the incasement and be provided with the cutting mechanism who is used for picking cluster type tomato, the top of fixed box is provided with total controller, the top of fixed box corresponds pick basket fixedly connected with collecting box, the inner wall swing joint of collecting box has the fly leaf, the bottom of fly leaf is provided with damper, the bottom of fixed box is provided with the wheel.

As a further improvement of the above scheme, the damping mechanism includes a first fixed block, a moving rod, a second fixed block, a sliding block, a support rod and a first spring, the bottom of the first fixed block is fixedly connected with the inner wall of the collection box, the front of the first fixed block is movably connected with one end of the moving rod through a pin shaft, the other end of the moving rod is movably connected with the front of the second fixed block through a pin shaft, the top of the second fixed block is fixedly connected with the bottom of the sliding block, the inside of the sliding block is movably connected with the surface of the support rod, the two ends of the support rod are fixedly connected with the inner wall of the movable plate, the surface of the support rod is movably connected with the inside of the first spring, one end of the first spring is fixedly connected with the inner wall of the movable plate, and the other end of the first spring is fixedly connected with one side of the sliding block.

As a further improvement of the above scheme, the bottom of the movable plate is movably connected with a limiting block, the surface of the limiting block is movably connected with a second spring, the top end of the second spring is fixedly connected with the bottom of the movable plate, and the other end of the second spring is fixedly connected with the inner wall of the collecting box.

As a further improvement of the above scheme, the lifting mechanism comprises a second motor, a rotating rod, a first bevel gear, a second screw and a lifting block, one side of the second motor is fixedly connected with one side of the fixed box, one side of the second motor is fixedly connected with one end of the rotating rod, the other end of the rotating rod extends to the inside of the fixed box and is movably connected with the inner wall of the fixed box through a bearing, the surface of the rotating rod is fixedly connected with the inside of the first bevel gear, the top of the first bevel gear is meshed with one side of the second bevel gear, the top of the second bevel gear is fixedly connected with one end of a second screw rod, the other end of the second screw rod extends to the outside of the fixed box and is movably connected with the bottom of the baffle plate through a bearing, the surface of the second screw rod is in threaded connection with the inner part of the lifting block, and one side of the lifting block is fixedly connected with one side of the lifting plate.

As a further improvement of the above scheme, the other side of the lifting block is fixedly connected with an auxiliary block, the inside of the auxiliary block is movably connected with a fixed rod, one end of the fixed rod is fixedly connected with the bottom of the baffle, and the other end of the fixed rod is fixedly connected with the top of the fixed box.

As a further improvement of the above scheme, a bottom plate is fixedly connected to the bottom of the second motor, and one side of the bottom plate is fixedly connected to one side of the fixing box.

As a further improvement of the above scheme, the cutting mechanism includes a blade and a first motor, the inner wall of the box is deposited in first motor fixed connection, the first screw rod of opposite side fixedly connected with of first motor, the other end of first screw rod passes through the bearing and deposits the inner wall swing joint of box, the surperficial threaded connection of first screw rod has the movable block, the top fixedly connected with connecting plate of movable block, one side fixedly connected with connecting rod of connecting plate, the other end of connecting rod with blade fixed connection.

As a further improvement of the scheme, the inner wall of the storage box is movably connected with a partition plate, and the interior of the partition plate is movably connected with the surface of the first screw rod.

The utility model has the beneficial effects that:

compared with the prior art, the string-type tomato picking robot based on the machine vision function provided by the utility model has the advantages that the shearing of the female branches of the tomato strings is completed by controlling the blades in the storage box through the motor, so that the string-type tomatoes automatically fall into the picking basket, the problem of low single grabbing and picking efficiency is solved, the problems of inconvenient height adjustment, more manual participation and insufficient automation and intellectualization of the existing picking robot are solved through the lifting mechanism and the vision module, the problems that the existing picking robot cannot accurately judge the picking number and automatically pours into a frame are solved through the weight inductor and the electric telescopic rod, and the problem that the tomatoes are easily damaged in the pouring process is solved through the buffer mechanism at the bottom of the collecting basket.

The method has the following technical effects:

1. in the utility model, a real-time picking scene is obtained through a high-definition camera carried on a steering engine holder with two degrees of freedom, mature tomato strings are sequentially identified and positioned from the scene by utilizing a string type tomato identification algorithm and CPU calculation force in a master controller, and three-dimensional coordinates of parent branches of the mature tomato strings are simultaneously obtained, (the operation method can be realized through a utility model patent with the reference number of CN2021082800591310, namely a string type tomato real-time detection method based on improved YOLOV5, and the application number of 202110999230.3) to control a lifting mechanism to a target position, and then a blade in a storage box is controlled to cut the parent branches of the tomato strings; the partition plate is arranged inside the storage box, so that the moving range of the movable block can be effectively limited, and the excessive collision of the two blades can be avoided while the female branches of the tomato strings are effectively cut; when the weight sensor on the inner wall of the picking basket senses that the weight of the tomatoes exceeds a set threshold value, the electric telescopic rod is lifted to drive the picking basket to incline, and the tomatoes are poured into the collecting box; through the arrangement, the problems that the existing picking robot is insufficient in automation, poor in picking efficiency, incapable of accurately judging picking weight and automatically dumping into the collecting box are solved; a series of continuous automatic processes of identifying, positioning, picking and collecting the tomato strings are completed.

2. According to the utility model, through arranging the lifting mechanism, the second motor is utilized to drive the rotating rod to rotate, the rotating rod drives the first conical gear, the second conical gear and the second screw rod to rotate, the second screw rod drives the lifting block and the lifting plate to move up and down, the height of the lifting plate can be conveniently adjusted, the auxiliary block and the fixed rod are arranged on one side of the lifting block to assist the movement of the lifting block, and the bottom plate is arranged at the bottom of the second motor and serves as a supporting plate of the second motor; by arranging the lifting mechanism, the problems that the existing picking robot cannot freely adjust the height, has low picking flexibility and is inconvenient for people to use and the like are solved;

3. according to the utility model, by arranging the damping mechanism, the tomatoes fall into the collecting box to drive the movable plate to vibrate, the movable plate drives the supporting rod to move up and down, the supporting rod drives the sliding block to move, the sliding block drives the first spring to stretch, the sliding block drives the second fixing block to move, and the second fixing block drives the movable rod to rotate by taking the first fixing block as a supporting point, so that the movable plate can be damped, and the impact force of collision between the tomatoes and the movable plate is effectively reduced; the limiting block and the second spring are arranged at the bottom of the movable plate, so that the movable plate can be assisted in further damping; the problem of current picking robot topple over easy damaged of in-process tomato is solved.

Drawings

The following detailed description of embodiments of the utility model is provided in conjunction with the appended drawings, in which:

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a cross-sectional view of the structure of the present invention;

FIG. 3 is an enlarged view of the structure A in FIG. 2 according to the present invention;

FIG. 4 is a schematic top cross-sectional view of a storage case of the present invention.

In the figure: 1. a fixed box; 2. a collection box; 3. a movable plate; 4. a damping mechanism; 41. a first fixed block; 42. a travel bar; 43. a second fixed block; 44. a slider; 45. a support bar; 46. a first spring; 5. a fixing plate; 6. a baffle plate; 7. a lifting mechanism; 71. a second motor; 72. a rotating rod; 73. a first bevel gear; 74. a second bevel gear; 75. a second screw; 76. a lifting block; 8. a lifting plate; 9. a connecting box; 10. an electric telescopic rod; 11. picking baskets; 12. a support plate; 13. a storage box; 14. a first motor; 15. a first screw; 16. a movable block; 17. a connecting plate; 18. a connecting rod; 19. a blade; 20. an auxiliary block; 21. fixing the rod; 22. a limiting block; 23. a second spring; 24. a base plate; 25. a partition plate; 26. a wheel; 27. a weight sensor; 28. a master controller; 29. a steering engine pan-tilt; 30. high-definition camera

Detailed Description

As shown in figures 1-4, the string-type tomato picking robot based on the machine vision function provided by the utility model comprises a fixed box 1, a general controller 28 is placed on the top of the fixed box 1, a collecting box 2 is fixedly connected on the top of the fixed box 1, a movable plate 3 is movably connected on the inner wall of the collecting box 2, a damping mechanism 4 is arranged at the bottom of the movable plate 3, a fixed plate 5 is fixedly connected on the top of the fixed box 1, a baffle 6 is fixedly connected on the top of the fixed plate 5, a lifting mechanism 7 is arranged on the top of the fixed box 1, a lifting plate 8 is arranged on one side of the lifting mechanism 7, a connecting box 9 is fixedly connected on the bottom of the lifting plate 8, an electric telescopic rod 10 is fixedly connected on the inner wall of the connecting box 9, a picking basket 11 is movably connected at the other end of the electric telescopic rod 10 through a pin shaft, a weight sensor 27 is arranged on the inner wall of the bottom of the picking basket 11, and the other side of the picking basket 11 is movably connected with the top of the lifting plate 8 through a pin shaft, top fixedly connected with backup pad 12 of lifter plate 8, case 13 is deposited to one side fixedly connected with of backup pad 12, deposit the top fixedly connected with steering wheel cloud platform 29 of case 13, steering wheel cloud platform 29's top fixedly connected with high definition digtal camera 30, it is provided with the cutting mechanism who is used for picking string type tomato to deposit in the case 13, cutting mechanism is including fixed connection at the first motor 14 of depositing the inner wall of case 13, the first screw rod 15 of opposite side fixedly connected with of first motor 14, the other end of first screw rod 15 passes through bearing and the inner wall swing joint who deposits case 13, the surperficial threaded connection of first screw rod 15 has movable block 16, the top fixedly connected with connecting plate 17 of movable block 16, one side fixedly connected with connecting rod 18 of connecting plate 17, the other end fixedly connected with blade 19 of connecting rod 18, the bottom of fixed case 1 is provided with wheel 26.

By arranging the lifting mechanism 7, the height of the lifting plate 8 can be conveniently adjusted, the first motor 14 is utilized to drive the first screw rod 15 to rotate, the first screw rod 15 drives the movable block 16, the connecting plate 17, the connecting rod 18 and the blade 19 to move left and right, the tomatoes can be picked, the picked tomatoes fall into the picking basket 11, when the tomatoes in the picking basket 11 are stacked to exceed the set threshold value of the weight sensor 27, the electric telescopic rod 10 is utilized to support one side of the picking basket 11 to form the inclination of the picking basket 11, the tomatoes are poured into the collecting box 2, the movable plate 3 can be damped by arranging the damping mechanism 4, the problems that the picking height of the existing picking robot is difficult to adjust, the picking efficiency is poor, and the inside effect that does not have certain shock attenuation buffering of collection basket, the tomato is when empting, causes the damage to the tomato easily, the inconvenient problem that people used.

In this embodiment, the damping mechanism 4 includes a first fixed block 41, a moving rod 42, a second fixed block 43, a sliding block 44, a support rod 45 and a first spring 46, the bottom of the first fixed block 41 is fixedly connected with the inner wall of the collection box 2, the front of the first fixed block 41 is movably connected with one end of the moving rod 42 through a pin shaft, the other end of the moving rod 42 is movably connected with the front of the second fixed block 43 through a pin shaft, the top of the second fixed block 43 is fixedly connected with the bottom of the sliding block 44, the inside of the sliding block 44 is movably connected with the surface of the support rod 45, both ends of the support rod 45 are fixedly connected with the inner wall of the movable plate 3, the surface of the support rod 45 is movably connected with the inside of the first spring 46, one end of the first spring 46 is fixedly connected with the inner wall of the movable plate 3, and the other end of the first spring 46 is fixedly connected with one side of the sliding block 44. Through setting up damper 4, the inside that the tomato falls into collecting box 2 drives fly leaf 3 and produces vibrations, and fly leaf 3 drives bracing piece 45 and reciprocates, and bracing piece 45 drives sliding block 44 and removes, and sliding block 44 drives first spring 46 and stretches out and draws back, and sliding block 44 drives second fixed block 43 and removes, and second fixed block 43 drives movable rod 42 and uses first fixed block 41 as the strong point rotation, can carry out the shock attenuation to fly leaf 3.

In this embodiment, the lifting mechanism 7 includes a second motor 71, a rotary rod 72, a first bevel gear 73, one side of the second motor 71 is fixedly connected with one side of the fixed box 1, one side of the second motor 71 is fixedly connected with one end of the rotating rod 72, the other end of the rotating rod 72 extends into the fixed box 1 and is movably connected with the inner wall of the fixed box 1 through a bearing, the surface of the rotating rod 72 is fixedly connected with the inside of the first bevel gear 73, the top of the first bevel gear 73 is meshed with one side of the second bevel gear 74, the top of the second bevel gear 74 is fixedly connected with one end of the second screw 75, the other end of the second screw 75 extends to the outside of the fixed box 1 and is movably connected with the bottom of the baffle plate 6 through a bearing, the surface of the second screw 75 is connected with the inner thread of the lifting block 76, and one side of the lifting block 76 is fixedly connected with one side of the lifting plate 8. Through setting up elevating system 7, utilize second motor 71 to drive bull stick 72 and rotate, bull stick 72 drives first conical gear 73, second conical gear 74 and second screw 75 and rotates, and second screw 75 drives elevator 76 and lifter plate 8 and reciprocates, can conveniently adjust the height of lifter plate 8. In this embodiment, the other side of the lifting block 76 is fixedly connected with an auxiliary block 20, the inside of the auxiliary block 20 is movably connected with a fixing rod 21, one end of the fixing rod 21 is fixedly connected with the bottom of the baffle 6, and the other end of the fixing rod 21 is fixedly connected with the top of the fixed box 1. By providing the auxiliary block 20 and the fixing lever 21, the movement of the elevating block 76 can be assisted by attaching the auxiliary block 20 and the fixing lever 21 to one side of the elevating block 76.

In this embodiment, the bottom of the movable plate 3 is movably connected with a limiting block 22, the surface of the limiting block 22 is movably connected with a second spring 23, the top end of the second spring 23 is fixedly connected with the bottom of the movable plate 3, and the other end of the second spring 23 is fixedly connected with the inner wall of the collecting box 2. By arranging the limit block 22 and the second spring 23, the limit block 22 and the second spring 23 are mounted at the bottom of the movable plate 3, so that the shock absorption of the movable plate 3 can be assisted.

In this embodiment, the bottom of the second motor 71 is fixedly connected with the bottom plate 24, and one side of the bottom plate 24 is fixedly connected with one side of the fixed box 1. By providing the base plate 24, the base plate 24 is mounted on the bottom of the second motor 71, which can provide support for the second motor 71.

In this embodiment, a partition 25 is movably connected to the inner wall of the storage box 13, and the inside of the partition 25 is movably connected to the surface of the first screw 15. Through setting up baffle 25, install baffle 25 in the inside of depositing case 13, can restrict the home range of movable block 16, when effectively cutting the female branch of tomato cluster, avoid the excessive collision of two blades, play the effect of protection blade.

In this embodiment, the first motor 14, the second motor 71, the electric telescopic rod 10, the steering engine pan-tilt 29 and the high definition camera 30 are all controlled by the master controller 28 in a unified manner, so as to complete a series of continuous automatic processes of identifying, positioning, picking and collecting the tomato strings. A master controller 28 is arranged at the top of the fixed box 1, a steering engine holder 29 and a high-definition camera 30 are controlled to acquire a real-time picking scene, and a string type tomato identification algorithm is used for acquiring the coordinate position of a female branch of a tomato string to complete the identification and positioning task.

The working principle of the utility model is as follows: through controlling the steering engine holder 29 with two degrees of freedom, the high-definition camera 30 is adjusted to obtain a real-time picking scene, the ripe tomato strings are sequentially identified and positioned from the scene by utilizing a string type tomato identification algorithm and CPU calculation force in the master controller 28, the three-dimensional coordinates of the mother branches of the tomato strings are obtained, the master controller 27 controls to start the second motor 71, the second motor 71 drives the rotating rod 72 to rotate, the rotating rod 72 drives the first bevel gear 73 to rotate, the first bevel gear 73 drives the second bevel gear 74 to rotate, the second bevel gear 74 drives the second screw 75 to rotate, the second screw 75 drives the lifting block 76 to move up and down, the lifting block 76 drives the lifting plate 8 to move up and down, the height of the lifting plate 8 can be conveniently adjusted, and the storage box 13 is controlled to reach the height of a target tomato string. The first motor 14 is started, the first motor 14 drives the first screw rod 15 to rotate, the first screw rod 15 drives the movable block 16 to move left and right, the movable block 16 drives the connecting plate 17 to move left and right, the connecting plate 17 drives the connecting rod 18 to move left and right, the connecting rod 18 drives the blade 19 to move left and right, the female branches of the tomato strings can be cut, and the picked tomatoes fall into the picking basket 11. When picking basket 11 inner wall weight inductor 27 senses tomato weight and surpasses the settlement threshold value, total controller 28 starts electric telescopic handle 10, electric telescopic handle 10 drives picking basket 11 one side and rises to form the slope, empty the inside of gathering box 2 with the tomato, the tomato falls into the inside of gathering box 2 and drives fly leaf 3 and produce vibrations, fly leaf 3 drives bracing piece 45 and reciprocates, bracing piece 45 drives sliding block 44 and removes, sliding block 44 drives first spring 46 and stretches, sliding block 44 drives second fixed block 43 and removes, second fixed block 43 drives movable rod 42 and uses first fixed block 41 to rotate as the strong point, can carry out the shock attenuation to fly leaf 3. Meanwhile, the limiting block 22 and the second spring 23 which are arranged at the bottom of the movable plate can assist in damping the movable plate 3, so that the collision pressure of the tomatoes and the movable plate is minimized, the collision pressure of the tomatoes and the movable plate is effectively reduced, and damage to the tomatoes is reduced.

The above embodiments are not limited to the technical solutions of the embodiments themselves, and the embodiments may be combined with each other into a new embodiment. The above embodiments are only for illustrating the technical solutions of the present invention and are not limited thereto, and any modification or equivalent replacement without departing from the spirit and scope of the present invention should be covered within the technical solutions of the present invention.

Claims

1. The utility model provides a string type tomato picking robot based on machine vision function which characterized in that: comprises a fixed box (1), the top of the fixed box (1) is fixedly connected with a baffle (6) through a fixed plate (5), the top of the fixed box (1) is provided with a lifting mechanism (7), one side of the lifting mechanism (7) is provided with a lifting plate (8), the bottom of the lifting plate (8) is fixedly connected with a connecting box (9), the inner wall of the connecting box (9) is fixedly connected with an electric telescopic rod (10), the other end of the electric telescopic rod (10) is movably connected with a picking basket (11) through a pin shaft, the inner wall of the bottom of the picking basket (11) is provided with a weight inductor (27), the other side of the bottom of the picking basket (11) is movably connected with the top of the lifting plate (8) through a pin shaft, the top of the lifting plate (8) is fixedly connected with a support plate (12), one side of the support plate (12) is fixedly connected with a storage box (13), deposit top fixedly connected with steering wheel cloud platform (29) of case (13), the top fixedly connected with high definition digtal camera (30) of steering wheel cloud platform (29), it is provided with the cutting mechanism who is used for picking cluster type tomato in case (13) to deposit, the top of fixed box (1) is provided with total controller (28), the top of fixed box (1) corresponds pick basket (11) fixedly connected with collecting box (2), the inner wall swing joint of collecting box (2) has fly leaf (3), the bottom of fly leaf (3) is provided with damper (4), the bottom of fixed box (1) is provided with wheel (26).

2. The string-type tomato picking robot based on machine vision function as claimed in claim 1, characterized in that: the damping mechanism (4) comprises a first fixed block (41), a moving rod (42), a second fixed block (43), a sliding block (44), a supporting rod (45) and a first spring (46), wherein the bottom of the first fixed block (41) is fixedly connected with the inner wall of the collecting box (2), the front surface of the first fixed block (41) is movably connected with one end of the moving rod (42) through a pin shaft, the other end of the moving rod (42) is movably connected with the front surface of the second fixed block (43) through a pin shaft, the top of the second fixed block (43) is fixedly connected with the bottom of the sliding block (44), the inner part of the sliding block (44) is movably connected with the surface of the supporting rod (45), the two ends of the supporting rod (45) are fixedly connected with the inner wall of the movable plate (3), and the surface of the supporting rod (45) is movably connected with the inner part of the first spring (46), one end of the first spring (46) is fixedly connected with the inner wall of the movable plate (3), and the other end of the first spring (46) is fixedly connected with one side of the sliding block (44).

3. The string-type tomato picking robot based on machine vision function as claimed in claim 2, characterized in that: the bottom of the movable plate (3) is movably connected with a limiting block (22), the surface of the limiting block (22) is movably connected with a second spring (23), the top end of the second spring (23) is fixedly connected with the bottom of the movable plate (3), and the other end of the second spring (23) is fixedly connected with the inner wall of the collecting box (2).

4. The string-type tomato picking robot based on machine vision function as claimed in claim 1 or 3, characterized in that: the lifting mechanism (7) comprises a second motor (71), a rotating rod (72), a first bevel gear (73), a second bevel gear (74), a second screw (75) and a lifting block (76), one side of the second motor (71) is fixedly connected with one side of the fixed box (1), one side of the second motor (71) is fixedly connected with one end of the rotating rod (72), the other end of the rotating rod (72) extends into the fixed box (1) and is movably connected with the inner wall of the fixed box (1) through a bearing, the surface of the rotating rod (72) is fixedly connected with the inside of the first bevel gear (73), the top of the first bevel gear (73) is meshed with one side of the second bevel gear (74), the top of the second bevel gear (74) is fixedly connected with one end of the second screw (75), the other end of the second screw (75) extends to the outside of the fixed box (1) and is movably connected with the bottom of the baffle plate (6) through a bearing, the surface of the second screw (75) is in threaded connection with the interior of the lifting block (76), and one side of the lifting block (76) is fixedly connected with one side of the lifting plate (8).

5. The string-type tomato picking robot based on machine vision function as claimed in claim 4, characterized in that: the other side fixedly connected with auxiliary block (20) of lifter block (76), the inside swing joint of auxiliary block (20) has dead lever (21), the bottom fixed connection of the one end and baffle (6) of dead lever (21), the other end and the top fixed connection of fixed case (1) of dead lever (21).

6. The string-type tomato picking robot based on machine vision function as claimed in claim 4, characterized in that: the bottom of the second motor (71) is fixedly connected with a bottom plate (24), and one side of the bottom plate (24) is fixedly connected with one side of the fixed box (1).

7. The string-type tomato picking robot based on machine vision function as claimed in claim 1, characterized in that: cutting mechanism is including blade (19) and first motor (14), first motor (14) fixed connection is at the inner wall of depositing case (13), the first screw rod (15) of opposite side fixedly connected with of first motor (14), the other end of first screw rod (15) passes through the bearing and deposits the inner wall swing joint of case (13), the surface threaded connection of first screw rod (15) has movable block (16), the top fixedly connected with connecting plate (17) of movable block (16), one side fixedly connected with connecting rod (18) of connecting plate (17), the other end of connecting rod (18) with blade (19) fixed connection.

8. The string-type tomato picking robot based on machine vision function as claimed in claim 7, characterized in that: the inner wall of the storage box (13) is movably connected with a partition plate (25), and the inside of the partition plate (25) is movably connected with the surface of the first screw rod (15).