CN216960814U - Automatic external device of picking of pineapple - Google Patents

Abstract

An automatic pineapple picking and externally hanging device and a picking method relate to the field of pineapple picking and are arranged on a cantilever type conveyor belt of an existing large-scale arm type pineapple harvester on the market, and the device comprises a scissor type lifting platform arranged at the bottom of the cantilever type conveyor belt, a two-degree-of-freedom cross-shaped guide rail sliding table mechanism arranged at the bottom of the scissor type lifting platform, a pineapple body picking mechanism arranged on the cross-shaped guide rail sliding table mechanism and two industrial cameras with adjustable shooting directions; during picking operation, after the pineapple bodies are positioned by the industrial camera, the operation of respectively breaking the stems of the pineapples is completed by the fruit leaf push rod and the fruit body tray in the pineapple body picking mechanism, and the pineapples are conveyed to the cantilever type conveying belt and are conveyed back to the carriage of the pineapple harvester. The automatic picking machine for the pineapples in the field can realize the full automation of the picking operation process of the pineapples in the field without reducing the picking efficiency, and has lower manufacturing and maintenance cost and higher practicability than a single pineapple automatic picking machine based on a mechanical arm.

Description

Automatic external device of picking of pineapple

Technical Field

The utility model relates to an automatic picking and externally hanging device for pineapples, in particular to a picking machine and a picking method which are suitable for automatically picking pineapples in a large pineapple planting field with standard plant spacing by using an existing large arm-type pineapple harvester in the market, and belongs to the field of pineapple picking.

Background

The key points of the operation of picking the pineapples manually are as follows: one hand pushes and holds the lower part of the pineapple leaf obliquely downwards, and the other hand gently beats the joint point (namely the handle) of the pineapple stem and the fruit body, so that the fruit body is broken off from the handle regularly, and the picking of one pineapple can be finished easily. According to the latest technical guidance of pineapple harvesting operation in the industry, the pineapple harvesting in the main pineapple production area in the global scope mainly uses a large arm type pineapple harvesting machine to assist a large amount of labor force to carry out manual harvesting, so that the aim of reducing labor cost is to use an automatic pineapple harvesting device to replace manual operation, which is worth trying. Some researches are being made for this purpose, wherein the "pineapple picking machine and picking method based on machine vision" (invention patent application No. 202010702982.4) developed by the royal red army of the university of agriculture in south china is one of the typical representatives, and the main working principle thereof is that a four-wheel-drive small vehicle is taken as a power platform, and a machine vision mechanism and a picking mechanical arm (a V-shaped paw) are installed on the platform. During picking, the power platform firstly drives to a position close to a pineapple plant to be picked, then the machine vision mechanism collects pineapple patterns to generate pineapple three-dimensional coordinate information, then the picking mechanical arm is controlled to grab a single pineapple body according to the generated pineapple position information, finally the picked pineapple body is placed on the conveying belt to finish one-time pineapple picking, and then the cycle is repeated. Obviously, the similar automatic pineapple picking machine does not consider the planting scale of the main pineapple production area in the global scope at present, and if the pineapple picking machine based on the small power platform is used for picking up pineapples in a large field with even larger number of hectares, a large number of picking machines are required to operate simultaneously, so that the picking equipment and the maintenance cost thereof are greatly increased, or the pineapple picking operation efficiency is seriously reduced to an unacceptable degree; on the other hand, the standard planting of the field pineapples is carried out according to the plant spacing of 1-2 meters, and the pineapple leaves are scattered and grow in all directions, so that the pineapple picking machine with the larger total size cannot enter plant rows to pick at all, the picking machine with the small total size similar to the pineapples often needs to transport picked fruits due to the fact that the pineapple picking machine cannot accommodate enough pineapples, and the defects are unacceptable in the actual field pineapple picking operation and are believed to be an important reason that manual operation is still adopted in the pineapple main production area in the global range at present. In order to improve the efficiency of automatic pineapple picking operation and reduce the equipment cost, a large-scale arm-type pineapple harvester which is mature and used at present can be considered as a basic power and operation platform, a plurality of automatic pineapple picking external hanging devices with the same number as that of manual picking stations are arranged on a cantilever type conveyor belt, so that the automatic pineapple picking external hanging devices can automatically pick whole rows (or whole columns) of pineapples in a pineapple field at the same time, the existing method is still adopted for transportation and boxing after picking, and thus the number of workers for one-time pineapple picking operation in the field can be greatly reduced, and the picking efficiency is ensured; in addition, in order to reduce the mechanism complexity and cost of the automatic pineapple picking plug-in device, a picking actuating mechanism using a mechanical arm or a similar mechanical arm is abandoned, and a simpler and more reliable motion mechanism is adopted to complete picking and placing actions, so that the automatic picking technology of pineapples has better practicability, and is applied to the pineapple planting industry as soon as possible.

Disclosure of Invention

In order to reduce the dependence of field pineapple harvesting on a large amount of human resources and overcome the defect that the existing automatic pineapple harvesting machine cannot be practically applied to large-scale harvesting operation due to the problems that the efficiency is low, the equipment cost is high, the equipment size cannot adapt to the spacing between standard field pineapple plants and the like, the utility model provides an automatic pineapple harvesting externally-hanging device and a harvesting method, wherein a plurality of automatic pineapple harvesting externally-hanging devices are arranged below a cantilever type conveying belt of the same large-scale arm type pineapple harvesting machine according to the number of normal manual stations, and after the automatic pineapple harvesting devices are operated according to the harvesting method provided by the utility model, the number of personnel for completing one field pineapple harvesting operation can be greatly reduced, and the efficiency of the pineapple harvesting operation is not influenced; the picking actuator of the automatic pineapple picking plug-in device does not use a mechanical arm or a variant form thereof, but designs a mechanical structure which is simpler, more reliable and more robust than the mechanical arm by referring to the technical guidance of manual pineapple picking operation published by the department of agriculture and fishery of Queensland, Australia in 2019, so that the automatic pineapple picking plug-in device has lower manufacturing and maintenance cost, and the requirements on the control positioning precision of a machine vision device and the actuator are also obviously reduced.

The utility model aims to provide an automatic pineapple picking external hanging device which can be arranged below a cantilever type conveyor belt of a large-scale arm type pineapple harvester universally applied in the industry.

The second purpose of the utility model is to provide an automatic pineapple picking method suitable for pineapples in a large pineapple planting field with standard plant spacing by using a large arm type pineapple harvester on the market.

The first purpose of the utility model is realized by the following technical scheme:

the utility model provides an automatic external device of picking of pineapple which characterized in that: the device is arranged on an existing large-scale arm-type pineapple harvester on the market and comprises a pineapple fruit body picking mechanism, a scissor-type lifting platform, a two-degree-of-freedom cross guide rail sliding table mechanism and two industrial cameras with adjustable shooting directions.

The top plate of the scissor type lifting platform is connected with the bottom of a cantilever type conveying belt of the large-scale arm type pineapple harvesting machine, the bottom plate of the scissor type lifting platform is connected with the top of an x-axis sliding rail of the two-degree-of-freedom cross guide rail sliding table mechanism, and the lifting motor can drive the bottom plate to vertically move up and down relative to the top plate through the lead screw nut transmission pair; the connecting position of the top plate and the bottom of the cantilever type conveyor belt can ensure that an x-axis sliding table of the cross guide rail sliding table mechanism can do reciprocating motion in a horizontal plane on the x-axis sliding rail along the conveying direction parallel to the cantilever type conveyor belt under the driving of the transverse moving motor, so that a y-axis sliding table of the cross guide rail sliding table mechanism can do reciprocating motion in the horizontal plane on a y-axis sliding rail along the conveying direction perpendicular to the cantilever type conveyor belt under the driving of the longitudinal moving motor; the two industrial cameras are respectively arranged at the head end and the tail end of the x-axis slide rail through lockable spherical hinges, so that the lenses can be adjusted to the direction pointing to the ground, and the vision centers can be aligned to the same point on the ground.

The pineapple fruit picking mechanism is arranged below the y-axis sliding table and consists of a speed reducing motor, a front swing rod shaft, a rear swing rod shaft, two fruit push rods, two front swing rods, two connecting rods, two rear swing rods, a fruit leaf push rod and a fruit tray; the fruit body tray is characterized in that a speed reducing motor is mounted on the lower surface of a y-axis sliding table, a front swing rod shaft is mounted below the y-axis sliding table in a horizontal mode perpendicular to the motion direction of the y-axis sliding table and can rotate around the axis of the y-axis sliding table under the driving of the speed reducing motor, one ends of two parallel fruit body push rods are fixedly connected with two ends of the front swing rod shaft respectively, when the fruit body push rods rotate along with the front swing rod shaft, the rotating plane of the fruit body push rods is perpendicular to the axis of the front swing rod shaft, a fruit stem push rod is mounted at the other ends of the two fruit body push rods and forms three hard frames of a rectangular frame body together with the two fruit body push rods, a rectangular braided fabric made of elastic materials is arranged in the rectangular frame body, the other side of the rectangular braided fabric is not connected with any hard frame and keeps a free state, and the fruit stem push rods and the rectangular braided fabric form a fruit body tray; one ends of two parallel front swing rods are also fixedly connected with two ends of a front swing rod shaft respectively, one front swing rod fixedly connected with the same end of the front swing rod shaft and one fruit body push rod have the same rotating plane, the included angle between the front swing rod and the fruit body push rod can be adjusted within the range of 50-70 degrees, and the other ends of the two front swing rods are hinged with one ends of two parallel connecting rods respectively; the other ends of the two connecting rods are respectively connected with one ends of two rear swing rods which are parallel to each other through hinges, a fruit leaf push rod is arranged between two connecting points, the other ends of the two rear swing rods are respectively fixedly connected with two ends of a rear swing rod shaft, the rear swing rod shaft is horizontally arranged below the y-axis sliding table in a direction perpendicular to the movement direction of the y-axis sliding table and can rotate around the axis of the rear swing rod shaft, when the rear swing rods rotate along with the y-axis sliding table, the rotation plane of the rear swing rods is perpendicular to the axis of the rear swing rod shaft, the rotation plane of the rear swing rods is parallel to the rotation plane of the front swing rods, and the normal direction of the rear swing rods is parallel to the movement direction of the x-axis sliding table.

The second objective of the present invention can be achieved by the following technical solutions, and the following technical solutions are also the working principles of the technical solutions for achieving the first objective:

an automatic pineapple picking method suitable for pineapples in a large pineapple planting field with standard plant spacing by using an existing large arm-type pineapple harvester on the market is realized on the basis of an automatic pineapple picking external hanging device, and comprises the following steps:

the cantilever type conveyor belt of the large-scale arm type pineapple harvester and the rows or columns of the pineapple plants are driven into the pineapple fields in parallel, so that the cantilever type conveyor belt is positioned right above the rows or columns of the ripe pineapple plants; the plurality of automatic pineapple picking external hanging devices are arranged below the cantilever type conveying belt, the mutual distance of the automatic pineapple picking external hanging devices is adjusted to be exactly consistent with the distance between pineapple plants under the cantilever, and the shooting directions of the two industrial cameras of each automatic pineapple picking external hanging device are adjusted to shoot images of the picked object pineapples so that the control system can determine the three-dimensional coordinate information of the object pineapples.

For each automatic pineapple picking plug-in device, in an initial state, the scissor type lifting platform is in a completely folded state, a bottom plate of the scissor type lifting platform is upwards close to and attached to a top plate, and a fruit body push rod is driven by a speed reduction motor to rotate to a position parallel to the movement direction of the y-axis sliding table.

And then, according to the three-dimensional coordinate information of the object pineapple, the control system controls the lifting motor, the transverse moving motor and the longitudinal moving motor to jointly adjust the positions of the fruit stem push rod and the fruit leaf push rod relative to the object pineapple.

Then, the longitudinal moving motor and the speed reducing motor run simultaneously, so that the fruit stem push rod moves according to a linear and rotary composite motion track, the fruit stem push rod can avoid pineapple leaves and move downwards to one side of the stem below the pineapple body from a gap above the pineapple body, on the other hand, the fruit leaf push rod moves to the position of the pineapple leaves on the other side of the pineapple body according to the motion rule of the multi-rod mechanism, the fruit leaf push rod further moves obliquely downwards to push the pineapple leaves, the fruit stem push rod blocks the fruit stem on the opposite side, so that the stem below the pineapple body is broken from the junction of the fruit stem and the pineapple body, and the pineapple body is toppled over and contained on the rectangular braided fabric.

After the pineapple bodies are placed on the rectangular braided fabric, the lifting motor starts to operate again to enable the scissor type lifting platform to gradually return to a completely folded state, and the whole pineapple body picking mechanism is driven to move upwards to a position closest to the cantilever type conveying belt, meanwhile, the longitudinal moving motor and the speed reducing motor continue to operate according to the original direction until the included angle between a fruit body push rod and the vertical direction reaches at least 30 degrees, at the moment, the longitudinal moving motor becomes reverse operation, meanwhile, the speed reducing motor continues to operate according to the original direction, and therefore the fruit body tray containing the pineapple bodies is separated from the range of plant blades and is conveyed to a position slightly lower than the cantilever type conveying belt, and the pineapple bodies are basically horizontal.

And then, the longitudinal movement motor continuously operates to further adjust the position of the fruit body tray, the speed reduction motor continuously operates according to the original direction to enable the fruit body tray to carry the pineapple fruit bodies to upwards cross the upper surface of the conveying belt of the cantilever type conveying belt, and the pineapple fruit bodies on the fruit body tray slide onto the cantilever type conveying belt or a modified extension structure of the cantilever type conveying belt from the rectangular braided fabric along with the increase of the inclination angle of the fruit body tray and then are sent back by the conveying belt.

Finally, the speed reducing motor runs reversely to enable the fruit body push rod to rotate to the position in the initial state, after one-time picking is finished and all pineapples in the row or column are picked, the large arm type pineapple harvesting machine advances by one plant row width or row spacing to prepare for next picking.

The utility model has the beneficial effects that: according to the utility model, the automatic picking can be realized by feeding back the position information of the pineapple body through the machine vision, so that the manual pineapple picking operation is replaced; the utility model relates to an externally-hanging device used in cooperation with a large arm-type pineapple harvester which is mature in the industry, the mounting part of the externally-hanging device is the lower part of a cantilever type conveyor belt, namely the upper part of a pineapple plant, and a picked pineapple body is directly placed on the conveyor belt and is transmitted back to a carriage of a tractor, so that the problem that the efficiency is too low because a common single automatic pineapple picking machine cannot enter inter-row operation of the pineapple plant in a field or needs to be transported for multiple times is solved, and the practicability of the externally-hanging device is greatly and radically improved; a plurality of automatic pineapple picking external hanging devices can be arranged below a cantilever type conveying belt of the same large-scale arm type pineapple harvester according to the number of normal manual work stations, so that a large number of picking operators in the harvesting process are completely replaced, meanwhile, the efficiency of pineapple harvesting operation cannot be obviously influenced, and if the time for the operators to rest during operation is considered, the picking efficiency of the automatic pineapple picking external hanging device can be even higher than that of the conventional harvesting operation of field pineapples at present; the pineapple fruit body dropping action of the utility model is as follows: the mechanism is simpler, more reliable and has robustness compared with a mechanical arm or a variant structure thereof used by other common single automatic pineapple pickers, and the robustness is realized in that the real-time positioning information of the industrial camera on the pineapple fruit body can have a centimeter-level error without influencing the fruit dropping action because the lengths of the fruit leaf push rod and the fruit body tray can be slightly greater than the maximum outer diameter of the pineapple fruit body and the position of the broken fruit stem can be positioned on one side of the fruit stem within a range of a few centimeters below the pineapple stem; the machine vision system and the overall mechanical structure on which the picking and drop mechanism is dependent due to its features are much cheaper to manufacture and maintain than the common single automated pineapple pickers using a mechanical arm or its variant structure.

Drawings

Fig. 1 is a schematic layout view of a plurality of automatic pineapple picking plug-in devices provided by the utility model on a large arm type pineapple harvester in the market.

Fig. 2 is a schematic view of the installation position of the large arm type pineapple harvester in the market, and is a detailed enlarged view corresponding to the installation structure at the position A in fig. 1.

Fig. 3 is a schematic diagram of the general structure of the present invention.

Fig. 4 is a schematic structural view of a scissor lift platform.

Fig. 5 is a schematic structural diagram of a two-degree-of-freedom cross rail sliding table mechanism.

Fig. 6 is a schematic view of a pineapple body picking mechanism.

Fig. 7 is a schematic diagram of the initial positions of the components of the automatic pineapple picking externally hung device in the Step001 Step when the automatic pineapple picking method provided by the utility model is used for picking, and the initial positions are viewed from the direction parallel to the cantilever type conveyor belt.

Fig. 8 is a schematic diagram of the positions of the components of the automatic pineapple picking externally hung device in the Step002 Step relative to the bodies of the picked pineapples when picking is carried out according to the automatic pineapple picking method provided by the utility model, wherein the picking is carried out in a direction parallel to the cantilever type conveyor belt.

Fig. 9 is a schematic diagram of the positions of the components of the automatic pineapple picking externally-hanging device in the Step002 Step relative to the pineapple bodies of picking objects when the automatic pineapple picking method provided by the utility model is used for picking, and the components are seen from the direction vertical to the cantilever type conveyor belt.

Fig. 10 is a schematic diagram of the initial position of the stem push rod and the leaf push rod of the pineapple body picking mechanism in Step003 relative to the pineapple as a picking object and the movement track thereof when the pineapple is picked according to the automatic pineapple picking method provided by the utility model and viewed from the direction parallel to the cantilever type conveyor belt.

Fig. 11 is a schematic view of the positions of the stem and leaf push rods of the pineapple fruit body picking mechanism in Step003 when they start to approach along the movement track but not contact the pineapple when they are picked in a direction parallel to the cantilever conveyor in accordance with the automatic picking method for pineapple provided by the present invention, and the rectangular knitting of the fruit body tray also does not contact the pineapple.

Fig. 12 is a schematic diagram of the positions of the stem push rod and the leaf push rod of the pineapple fruit body picking mechanism in the Step003 Step moving along the moving tracks to the positions of the parts which are about to contact with the pineapples when the pineapple is picked according to the automatic pineapple picking method provided by the utility model, wherein the rectangular braided fabric of the fruit body tray contacts with the pineapples and deforms.

Fig. 13 is a schematic diagram showing the positions of parts of the stem pusher and the leaf pusher of the pineapple body picking mechanism in Step003 Step when the stem of the pineapple is broken by the combined action of the stem pusher and the leaf pusher, when the pineapple is picked according to the automatic pineapple picking method provided by the utility model, and the pineapple body with broken stem is placed on the fruit body tray.

Fig. 14 is a schematic diagram of the positions of the parts in Step004 Step when the fruit tray carries the picked pineapple bodies to move upwards continuously but not reach the horizontal position when the pineapple picking method provided by the utility model is used for picking, wherein the directions of the parts are parallel to the cantilever type conveyor belt.

Fig. 15 is a schematic view of the positions of the parts of a pineapple tray carrying pineapple bodies up over the top surface of a modified extension structure of a cantilever conveyor at Step005, as viewed in a direction parallel to the cantilever conveyor, just prior to their being slid onto the top surface of the conveyor extension structure from a rectangular knit fabric, during picking according to the automated pineapple picking method of the present invention.

Labeled in the figure as: 0-large arm type pineapple harvester, 01-cantilever type conveyor belt, 02-pineapple automatic picking and externally hanging device, 03-pineapple body, 04-pineapple leaf, 1-pineapple body picking mechanism, 101-speed reducing motor, 102-front swing rod shaft, 103-rear swing rod shaft, 104-fruit body push rod, 105-front swing rod, 106-connecting rod, 107-rear swing rod, 108-fruit leaf push rod, 109-fruit body tray, 1091-fruit stem push rod, 1092-rectangular braided fabric, 2-scissor type lifting platform, 21-lifting motor, 22-top plate, 23-bottom plate, 24-lead screw nut transmission pair, 3-two-degree-of-freedom cross guide rail sliding table mechanism, 311-x shaft sliding table, 312-x shaft sliding rail, 313-transverse moving motor, 321-y axis sliding table, 322-y axis sliding rail, 323-longitudinal moving motor, 4-industrial camera, C1-central point of fruit stem push rod, C2-central point of fruit leaf push rod, C3-central point of pineapple stem, C4-central point of front swing rod shaft, tr 1-motion track of fruit stem push rod and tr 2-motion track of fruit leaf push rod.

Detailed Description

The utility model will be further explained with reference to the drawings.

As shown in fig. 1 and 2, the present embodiment provides an automatic pineapple picking plug-in device 02, which is installed at the bottom of the cantilever type conveyor 01 of a large-scale commercially available arm type pineapple harvester 0, the number of the devices can be more than one, and the devices are generally arranged and installed according to the number and positions of stations during manual picking, for example, fifteen automatic pineapple picking plug-in devices 02 are installed at the bottom of the cantilever type conveyor 01 in fig. 1, fig. 2 is a detailed view of the installation situation of two automatic pineapple picking plug-in devices 02 at the bottom of the cantilever type conveyor 01, namely, a partial enlarged view at a in fig. 1, wherein one automatic pineapple picking plug-in device 02 (right) is ready to put a picked pineapple body 03 onto the cantilever type conveyor 01.

As shown in fig. 3, each automatic pineapple picking plug-in device 02 comprises a pineapple body picking mechanism 1, a scissor-type lifting platform 2, a two-degree-of-freedom cross guide rail sliding table mechanism 3 and two industrial cameras 4 with adjustable shooting directions.

As shown in fig. 3, 4 and 5, the top plate 22 of the scissor lift platform 2 is connected with the bottom of the cantilever type conveyor belt 01 of the large-scale arm type pineapple harvesting machine 0, the bottom plate 23 of the scissor lift platform 2 is connected with the top of the x-axis slide rail 312 of the two-degree-of-freedom cross guide rail sliding table mechanism 3, and the lift motor 21 can drive the bottom plate 23 to vertically move up and down relative to the top plate 22 through the lead screw nut transmission pair 24; the connection orientation of the top plate 22 and the bottom of the cantilever type conveyor belt 01 just ensures that the x-axis sliding table 311 of the cross guide rail sliding table mechanism 3 can reciprocate in the horizontal plane on the x-axis sliding rail 312 along the conveying direction (as shown by an arrow in fig. 2) parallel to the cantilever type conveyor belt 01 under the driving of the traverse motor 313, so that the y-axis sliding table 321 of the cross guide rail sliding table mechanism 3 can reciprocate in the horizontal plane on the y-axis sliding rail 322 just along the conveying direction perpendicular to the cantilever type conveyor belt 01 under the driving of the longitudinal movement motor 323; the two industrial cameras 4 are respectively mounted at the head and tail ends of the x-axis slide rail 312 through lockable spherical hinges, so that the lenses can be adjusted to point to the direction of the ground and the centers of the vision fields can be aligned to the same point on the ground.

As shown in fig. 6, the pineapple fruit picking mechanism 1 is installed below the y-axis sliding table 321, and is composed of a speed reduction motor 101, a front swing rod shaft 102, a rear swing rod shaft 103, two fruit push rods 104, two front swing rods 105, two connecting rods 106, two rear swing rods 107, a fruit leaf push rod 108, and a fruit tray 109; the speed reducing motor 101 is installed on the lower surface of the y-axis sliding table 321, the front swing rod shaft 102 is installed below the y-axis sliding table 321 in a manner of being vertical to the motion direction of the y-axis sliding table 321 and can rotate around the axis of the front swing rod shaft under the driving of the speed reducing motor 101, one ends of the two fruit push rods 104 which are parallel to each other are fixedly connected with two ends of the front swing rod shaft 102 respectively, when the fruit push rods 104 rotate along with the front swing rod shaft 102, the rotation plane is vertical to the axis of the front swing rod shaft 102, the other ends of the two fruit body push rods 104 are provided with a fruit stem push rod 1091, the fruit body tray 109 is characterized in that three hard frames of a rectangular frame body are formed by the fruit body tray and two fruit body push rods 104, a rectangular braided fabric 1092 made of elastic materials is arranged in the rectangular frame body, the other side of the rectangular braided fabric 1092 is not connected with any hard frame and keeps a free state, and the fruit stem push rods 1091 and the rectangular braided fabric 1092 form the fruit body tray 109. One ends of two parallel front swing rods 105 are also fixedly connected with two ends of the front swing rod shaft 102 respectively, a front swing rod 105 fixedly connected with the same end of the front swing rod shaft 102 and a fruit body push rod 104 have the same rotating plane, the included angle between the front swing rod 105 and the fruit body push rod 104 is 57.5 degrees, and the other ends of the two front swing rods 105 are hinged with one ends of two parallel connecting rods 106 respectively. The other ends of the two connecting rods 106 are respectively connected with one ends of two rear swing rods 107 which are parallel to each other through hinges, a fruit leaf push rod 108 is installed between two connecting points, the other ends of the two rear swing rods 107 are respectively fixedly connected with two ends of a rear swing rod shaft 103, the rear swing rod shaft 103 is installed below the y-axis sliding table 321 in a manner of being parallel to the front swing rod shaft 102 and can rotate around the axis of the rear swing rod shaft 103, when the rear swing rods 107 rotate together with the rear swing rod shaft 103, the rotating plane of the rear swing rods 107 is perpendicular to the axis of the rear swing rod shaft 103, the rotating plane of the front swing rods 105 is parallel to the rotating plane of the rear swing rods 107, and the normal direction of the rear swing rods is parallel to the moving direction (such as the arrow direction of a solid line in fig. 5) of the x-axis sliding table 311.

The automatic pineapple picking plug-in device 02 in the embodiment further comprises electric and control circuits for supplying power to and transmitting control signals to the two industrial cameras 4, the lifting motor 21, the transverse moving motor 313, the longitudinal moving motor 323 and the speed reducing motor 101, drivers of the motors and a single board computer for controlling the motors, which are arranged on the large arm type pineapple harvester 0 in a distributed manner. The single board computer is a Raspberry pi 4B (Raspberry pi 4B) simplified instruction set computer based on an ARM architecture, and runs a Raspbian operating system. A great amount of mature and pluckable single variety pineapple body photos are used for off-line training of a cascade classifier (cascade classifier) based on OpenCV to obtain a final pineapple cascade classifier, and the pineapple cascade classifier is used on the raspberry type computer to identify and position pineapple images transmitted back by the two industrial cameras 4, so that accurate pineapple body position coordinate information is obtained.

As shown in fig. 1, 2 and 7-15, the present embodiment further provides an automated pineapple picking method, which is implemented based on the above automatic pineapple picking plug-in device, and includes the following steps:

step 000: for the standard pineapple fields, the rows or the columns of pineapple plants are approximately vertical to the field tractor-ploughing road, the cantilever type conveyor belt 01 of the large arm type pineapple harvester 0 can be driven into the pineapple fields approximately in parallel with the rows or the columns of the pineapple plants after being unfolded, and when the large arm type pineapple harvester 0 moves to a certain position, the cantilever type conveyor belt 01 can be approximately positioned right above the pineapple plants in a certain row or a certain column; as shown in fig. 1 and 2, a plurality of automatic pineapple picking external hanging devices 02 are installed below a cantilever type conveyor belt 01, the mutual distance of the automatic pineapple picking external hanging devices 02 is adjusted in advance to be exactly consistent with the distance between pineapple plants under the cantilever, the shooting directions of the two industrial cameras 4 of each automatic pineapple picking external hanging device 02 are adjusted in advance to be capable of shooting images of picked object pineapples, so that a control system can determine three-dimensional coordinate information of the object pineapples, specifically, a lockable spherical hinge is loosened, the direction of a lens of each industrial camera 4 is adjusted to a reasonable position, and then the spherical hinge is locked (the process is similar to the adjustment of a magnetic gauge stand).

Step 001: as shown in fig. 7, for each automatic pineapple picking plug-in device 02, the scissor type lifting platform 2 is initially in a fully folded state, the bottom plate 23 of the scissor type lifting platform is upwardly close to and attached to the top plate 22, and the fruit body push rod 104 is driven by the speed reduction motor 101 to rotate to a position parallel to the movement direction of the y-axis sliding table 321 (the direction pointed by the dotted arrow y in fig. 7).

Step 002: as shown in fig. 8 and 9, the two industrial cameras 4 collect the three-dimensional coordinate information of the object pineapple in real time, and accordingly, the single board computer controls the drivers of the lifting motor 21, the traversing motor 313 and the traversing motor 323, so that the three motors operate simultaneously to align the center point C1 of the fruit stem pushing rod 1091 and the center point C2 of the fruit leaf pushing rod 108 with the center point C3 of the joint between the pineapple body and the fruit stem, i.e. the center point C3 of the fruit stem, in the moving direction of the x-axis sliding table 311 (the direction of the solid arrow x in fig. 9); the coordinate of the central point C3 at the fruit handle in the vertical direction is 0.95 times lower than the coordinate of the central point C1 of the fruit stem push rod 1091 in the vertical direction by the length of the fruit body push rod 104; the handle center point C3 is located between the stem push rod 1091 center point C1 and the front swing rod shaft center point C4 in the movement direction of the y-axis sliding table 321 (the direction pointed by the dotted arrow y in fig. 8), and the absolute value of the difference between the coordinates of the handle center point C3 and the stem push rod 1091 center point C1 in the movement direction of the y-axis sliding table 321 is 0.25 times of the length of the fruit body push rod 104; but the above positioning position parameter and size parameter relations allow an error of plus or minus 3 cm.

Step 003: the longitudinal movement motor 323 and the speed reduction motor 101 operate simultaneously, as shown in fig. 10 to 13, respectively, so that the y-axis sliding table 321 moves linearly in the "+" direction indicated by the dotted arrow, the two fruit push rods 104 and the two front swing rods 105 rotate in the "+" direction indicated by the solid arrow, so that the fruit stem pushing rod 1091 moves according to a compound movement track tr1 of straight line + rotation, the movement track tr1 of the fruit stem pushing rod 1091 is proved by experiments to extend downwards from the gap above the pineapple body to the stem side below the pineapple body 03 (figure 10) just avoiding the pineapple leaves 04, in the present embodiment, the ratio of the linear movement speed (m/s) of the y-axis sliding table 321 to the rotational movement speed (rad/s) of the fruit pusher 104 is 0.48 (m/rad), if the stem push rod 1091 can not avoid the pineapple leaves 04, the fruit body tray 109 can not directly act on the pineapple body 03, which results in picking failure; on the other hand, the fruit leaf pushing rod 108 moves to the pineapple leaf on the other side of the pineapple body according to the multi-rod mechanism movement track tr2 (fig. 11-12). As the longitudinal moving motor 323 and the decelerating motor 101 continue to operate in the original direction, the fruit leaf pushing rod 108 will further move obliquely downward to the extreme stroke of the trace tr2 and exert a pushing effect on the pineapple leaves, at this time, the fruit stem pushing rod 1091 just forms a barrier on the opposite side of the pineapple stem and continues to move along the trace tr1, so that the stem under the pineapple body 03 is broken from the boundary of the fruit stem and the fruit body (at the fruit stalk), and the pineapple body 03 is toppled over and contained on the rectangular braided fabric 1092 (fig. 13).

Step 004: after the pineapple 03 is placed on the rectangular braided fabric 1092, the lifting motor 21 starts to operate again to gradually return the scissor-type lifting platform 2 to the fully retracted state, so as to drive the whole pineapple picking mechanism 1 to move upward to the position closest to the cantilever-type conveyor belt 0, at the same time, the longitudinal moving motor 323 and the reducing motor 101 continue to operate in the original direction, as shown in fig. 14, until the included angle between the fruit push rod 104 and the vertical direction reaches 30 °, the longitudinal moving motor 323 changes to operate in the reverse direction to make the y-axis sliding table 321 move linearly in the "-" direction indicated by the dotted arrow, and at the same time, the reducing motor 101 continues to operate in the original direction to make the two fruit push rods 104 and the two front swing rods 105 continue to rotate in the "+" direction indicated by the solid arrow, until the fruit tray 109 (composed of the fruit push rod 1091 and the rectangular braided fabric 1092) containing the pineapple 03 is separated from the range of the leaves of the cantilever-type conveyor belt 01 and is sent to the position slightly lower than the cantilever-type conveyor belt 01 and slightly lower than the range of the solid line The fruit body is basically horizontal.

Step 005: as shown in fig. 15, the longitudinal movement motor 323 continues to operate to make the y-axis sliding table 321 move linearly in the "-" direction indicated by the dotted arrow to further adjust the position of the fruit tray 109, the reduction motor 101 continues to operate in the original direction to make the two fruit pushing rods 104 and the two front swing rods 105 continue to rotate in the "+" direction indicated by the solid arrow, the fruit tray 109 carries the pineapple fruits 03 up over the upper surface of the cantilever conveyor 01 (at this time, the scissor-type lifting platform 2 has reached the fully retracted state under the driving of the lifting motor 21), and as the inclination angle of the fruit tray 109 increases, the pineapple fruits 03 thereon slide from the rectangular braided fabric 1092 onto the cantilever conveyor 01 or the modified extension structure thereof (fig. 2), and then are sent back by the conveyor.

Step 006: the deceleration motor 101 runs reversely to make the two fruit push rods 104 and the two front swing rods 105 rotate in the direction of the solid arrow (see fig. 10), until the two fruit push rods 104 rotate to the position indicated by Step001, after picking of all pineapples in the row or column is finished, the large arm type pineapple harvesting machine 0 advances by one row width or row spacing to prepare for next picking.

Claims (1)

1. The utility model provides an external device of automatic harvesting of pineapple which characterized in that: the device is arranged on an existing large-scale arm-type pineapple harvester on the market, and comprises a pineapple fruit body picking mechanism (1), a scissor-fork type lifting platform (2), a two-degree-of-freedom cross guide rail sliding table mechanism (3) and two industrial cameras (4) with adjustable shooting directions;

a top plate (22) of the scissor type lifting platform (2) is connected with the bottom of a cantilever type conveying belt (01) of the large-scale arm type pineapple harvesting machine, a bottom plate (23) of the scissor type lifting platform (2) is connected with the top of an x-axis sliding rail (312) of the two-degree-of-freedom cross guide rail sliding table mechanism (3), and the lifting motor (21) can drive the bottom plate (23) to vertically move relative to the top plate (22) through a lead screw nut transmission pair (24); the connecting position of the top plate (22) and the bottom of the cantilever type conveyor belt (01) can just ensure that an x-axis sliding table (311) of the cross guide rail sliding table mechanism (3) can do reciprocating motion in the horizontal plane on the x-axis sliding table (312) along the conveying direction parallel to the cantilever type conveyor belt (01) under the driving of a transverse moving motor (313), so that a y-axis sliding table (321) of the cross guide rail sliding table mechanism (3) can just do reciprocating motion in the horizontal plane on the y-axis sliding table (322) along the conveying direction vertical to the cantilever type conveyor belt (01) under the driving of a longitudinal moving motor (323); the two industrial cameras (4) are respectively arranged at the head end and the tail end of the x-axis slide rail (312) through lockable spherical hinges, so that the lenses can be adjusted to point to the direction below the ground, and the vision centers can be aligned to the same point on the ground;

the pineapple fruit picking mechanism (1) is installed below a y-axis sliding table (321) and consists of a speed reducing motor (101), a front swing rod shaft (102), a rear swing rod shaft (103), two fruit push rods (104), two front swing rods (105), two connecting rods (106), two rear swing rods (107), a fruit leaf push rod (108) and a fruit tray (109);

the speed reducing motor (101) is installed on the lower surface of the y-axis sliding table (321), the front swing rod shaft (102) is installed below the y-axis sliding table (321) in a horizontal mode perpendicular to the motion direction of the y-axis sliding table (321) and can rotate around the axis of the front swing rod shaft under the driving of the speed reducing motor (101), one ends of two fruit body push rods (104) which are parallel to each other are fixedly connected with two ends of the front swing rod shaft (102) respectively, when the fruit body push rods (104) rotate along with the front swing rod shaft (102), the rotation plane of the fruit body push rods is perpendicular to the axis of the front swing rod shaft (102), the other ends of the two fruit body push rods (104) are provided with a fruit stem push rod (1091) which forms three hard frames of a rectangular frame body with the two fruit body push rods (104), a rectangular braided fabric (1092) made of elastic materials is arranged in the rectangular frame body, and the other side of the rectangular braided fabric (1092) is not connected with any hard frame and keeps a free state, the fruit body tray (109) is formed by the fruit stem push rod (1091) and the rectangular braided fabric (1092);

one ends of two parallel front swing rods (105) are also fixedly connected with two ends of a front swing rod shaft (102) respectively, one front swing rod (105) fixedly connected to the same end of the front swing rod shaft (102) and one fruit body push rod (104) have the same rotating plane, the included angle between the front swing rod (105) and the fruit body push rod (104) can be adjusted within the range of 50-70 degrees, and the other ends of the two front swing rods (105) are hinged with one ends of two parallel connecting rods (106) respectively;

the other ends of the two connecting rods (106) are respectively connected with one ends of two rear swing rods (107) which are parallel to each other through hinges, a fruit leaf push rod (108) is arranged between two connecting points, the other ends of the two rear swing rods (107) are respectively fixedly connected with two ends of a rear swing rod shaft (103), the rear swing rod shaft (103) is horizontally arranged below the y-axis sliding table (321) and can rotate around the axis of the rear swing rod shaft (103) perpendicular to the movement direction of the y-axis sliding table (321), when the rear swing rods (107) rotate together with the rear swing rod shaft (103), the rotation plane of the rear swing rods (107) is perpendicular to the axis of the rear swing rod shaft (103), the rotation plane of the rear swing rods (107) is parallel to the rotation plane of the front swing rods (105), and the normal direction of the rear swing rods is parallel to the movement direction of the x-axis sliding table (311).

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