WO2020134283A1

WO2020134283A1 - Vegetable and fruit picker device and picking method

Info

Publication number: WO2020134283A1
Application number: PCT/CN2019/108960
Authority: WO
Inventors: 刘永华; 吴玉娟; 谢文; 徐礼明; 吴丹; 苏有朋
Original assignee: 江苏农林职业技术学院
Priority date: 2018-12-28
Filing date: 2019-09-29
Publication date: 2020-07-02
Also published as: CN109964649B; CN109964649A

Abstract

A vegetable and fruit picker device and a picking method, the picker device comprising: a ground rail (1) fixedly arranged on the ground. The ground rail (1) is provided with a movable vegetable and fruit picker body (2) thereon, and the vegetable and fruit picker body (2) is provided with a supporting frame (3) thereon; the supporting frame (3) is provided with two vertical sliding rails (4) and a supporting plate (5) transversely arranged between the two sliding rails (4); the supporting plate (5) is provided thereon with a servo motor (6) thereon, and a lead screw (7) is connected to an output end of the servo motor (6); further provided is a telescopic connecting rod (8) which moves relative to the lead screw (7); one end of the telescopic connecting rod (8) is provided with a sensing system, and the sensing system comprises a pneumatic motor (9), an image color sensor (10), pneumatic shears (11) and an overturnable fruit supporting device (12); and the overturnable fruit supporting device (12) has a steering gear (13) connected thereon which is used for turning over the overturnable fruit supporting device. The present vegetable and fruit picker device is characterized by high operation efficiency, very low working labor intensity and an ideal harvesting effect.

Description

Vegetable and fruit picking machine device and picking method

Technical field

The invention relates to the technical field of agricultural machinery, in particular to a vegetable and fruit picking machine device and a picking method.

Background technique

At present, my country is a big country producing fruits and vegetables, and the total planting area and total output of fruits and vegetables have consistently ranked first in the world. The picking and harvesting of fruits and vegetables is a seasonal and real-time labor-intensive work. In the process of fruit and vegetable production, it is the most laborious, time-consuming, and hardest part. Although the total planting area and total output are the first in the world, it has not brought considerable profits to agriculture. The high labor cost and low income have not been fundamentally changed. To solve the above problems, mechanical transmission technology, information technology, network technology, control With the development of modern science and technology such as technology and sensor technology, the research on automatic picking devices based on mechanical design, sensor technology, testing technology, machine vision, etc. has attracted much attention. Research and development of vegetable picking devices to reduce the labor intensity in the process of fruit and vegetable picking and improve labor efficiency will be the general trend of agricultural products automation

Summary of the invention

In view of the above problems, the present invention proposes a vegetable and fruit picking machine device and a picking method with high operating efficiency, very low work labor intensity, and ideal harvesting effect.

The technical scheme of the present invention is: a vegetable and fruit picking machine device, comprising: a ground track fixed on the ground, a movable vegetable and fruit picking machine body is provided on the ground track, and a vegetable and fruit picking machine body is provided on the ground track There is a support frame, two vertical slide rails are installed on the support frame, a support plate horizontally arranged between the two slide rails is also provided on the support frame, and the support plate is provided on the support plate There is a servo motor, a screw rod is connected to the output end of the servo motor, and a retractable connecting rod that moves relative to the screw rod is also provided, and an induction system is installed at one end of the retractable connecting rod. It includes a pneumatic motor, an image color sensor, a pneumatic scissors, and a reversible fruit holder. A servo for turning the reversible fruit holder is connected to the reversible fruit holder.

A connecting plate with a slider is fixedly installed on one end of the retractable connecting rod, and the slider on the connecting plate is in sliding fit with a corresponding slide rail on the support frame.

Limit switches are installed on the upper and lower ends of the slide rail.

A control system is also provided inside the main body of the vegetable and fruit picking machine. The control system includes a control box, a touch screen and a knob installed on the outer wall of the control box, and also includes a controller, a power supply device and a controller installed inside the control box Line; there is also a power supply module inside the body of the vegetable and fruit picking machine.

An air pump is further installed on the body of the vegetable and fruit picking machine, the air pump is connected to one end of an air pipe, and the other end of the air pipe is connected to the pneumatic motor.

A collecting basket is also arranged on the body of the vegetable and fruit picking machine near the reversible fruit tray, and a weight sensor is provided inside the collecting basket.

The method includes the following steps:

(1) Start the fruit and vegetable picking machine body, and supply power through the power supply device. The fruit and vegetable picking machine body moves forward on the ground track at a set speed. There are red fruits and vegetables planted on both sides of the ground track. The retractable connecting rod is in a contracted state and is in In the middle of the slide rail, the pneumatic scissors are open;

(2), the image color sensor is installed in the front section of the telescopic connecting rod, directly below the pneumatic scissors; when the fruit and vegetable picking machine body is not working, the color information of the red fruits and vegetables is collected and input by the image color sensor, and the entered color information is input to the control The system uses the entered color information as a comparison sample; when the body of the fruit and vegetable picking machine starts to move forward along the ground track, the image color sensor collects the color information in real time, and when the red information is collected, it compares with the comparison sample in real time. At the same time, the control system controls the body of the fruit and vegetable picking machine to stop moving forward, fine-tuning the body of the fruit and vegetable picking machine to move forward and backward on the ground track, the telescopic connecting rod moves up and down on the slide rail, so that the main body of the fruit and vegetable picking machine moves horizontally, and the telescopic connecting rod moves up and down The direction moves at the same time, and the two move to the position where the collected red information has the highest similarity value to the previously entered red information;

(3) When step (2) is completed, the fruit and vegetable picker body stops moving back and forth along the ground track, and the retractable connecting rod stops moving up and down; the control system controls the retractable connecting rod to extend forward, when the front end of the retractable connecting rod When the color area of the fruit collected by the image color sensor in real time is greater than 80% of the entire image area, the retractable connecting rod stops extending;

(4) When step (3) is completed, the control system controls the action of pneumatic scissors to complete the cutting of the stems, and the red fruits and vegetables fall into the reversible fruit holder.

(5). When step (4) is completed, the retractable connecting rod retracts back. When the retractable connecting rod retracts to its original state, the servo connected to the reversible fruit holder starts to move, and the reversible control is controlled. The fruit tray is turned at about 110°, so that the fruit in the reversible fruit tray falls into the collection basket on the body of the fruit and vegetable picking machine;

(6) After completing a picking task, the body of the fruit and vegetable picking machine begins to move forward, preparing for the next picking operation;

(7) When the ground of the planting area is completely laid with ground tracks, the body of the fruit and vegetable picking machine can complete the requirements of autonomous walking on the ground track and complete the task of picking mature fruits and vegetables.

(8) When the weight of the fruits and vegetables in the collection basket reaches the weight value set by the weight sensor, the weight sensor transmits the information to the machine body, and the body of the fruit and vegetable picking machine stops moving forward and issues an alarm.

The beneficial effects of the present invention: 1. As long as the track is laid in the planting area, the vegetable and fruit picking device moves according to the track in the planting area without deviation and high efficiency; 2. The control system adjusts the fruit and vegetable picking machinery according to the collected image color information The front and back positions of the body, the up and down position of the telescopic connecting rod, the telescopic connecting rod reaches the upper end of the stalks of vegetables and fruits, and then control the pneumatic scissors to cut the stalks, the fruits of the vegetables and fruits fall into the reversible fruit holder, 3, the control system sends instructions , The retractable connecting rod retracts, the servo connected to the reversible fruit holder rotates 110°, and the items in the reversible fruit holder fall into the collection basket. The invention has the characteristics of high operating efficiency, very low work labor intensity and ideal harvesting effect.

BRIEF DESCRIPTION

Figure 1 is a schematic structural view of the present invention;

2 is an operation flowchart of the present invention;

In the picture, 1 is the ground track, 2 is the fruit and vegetable picking machine body, 3 is the support frame, 4 is the slide rail, 5 is the support plate, 6 is the servo motor, 7 is the screw rod, 8 is the retractable connecting rod, 9 is the pneumatic motor , 10 is the image color sensor, 11 is the pneumatic scissors, 12 is the reversible fruit holder, 13 is the steering gear, 14 is the connecting plate, 15 is the limit switch, 16 is the air pump, 17 is the trachea, 18 is the control system, 19 It is a collection basket.

detailed description

The present invention will be further clarified in conjunction with specific embodiments below. It should be understood that these embodiments are only used to illustrate the present invention but not to limit the scope of the present invention. After reading the present invention, those skilled in the art will interpret various equivalent forms of the present invention. The modifications all fall within the scope defined by the claims appended to this application.

The invention is shown in the figure; a vegetable and fruit picking machine device includes: a ground track 1 fixed on the ground, a movable vegetable and fruit picking machine body 2 is provided on the ground track 1, and the vegetable and fruit picking machine A support frame 3 is provided on the body 2, two vertical slide rails 4 are installed on the support frame 3, and a support horizontally disposed between the two slide rails 4 is also provided on the support frame 3 Plate 5, a servo motor 6 is provided on the support plate 5, a screw 7 is connected to the output end of the servo motor 6, and a retractable connecting rod 8 that moves relative to the screw 7 is also provided. One end of the telescopic connecting rod 8 is provided with an induction system, the induction system includes a pneumatic motor 9, an image color sensor 10, a pneumatic scissors 11, and a reversible fruit holder 12, connected to the reversible fruit holder 12 There is a steering gear 13 for turning the reversible fruit holder 12.

A connecting plate 14 with a slider is fixedly installed at one end of the retractable connecting rod 8, and the sliding block on the connecting plate 14 is in sliding fit with the corresponding sliding rail 4 on the support frame 3.

Limit switches 15 are installed on the upper and lower ends of the slide rail 4.

A control system 18 is also provided inside the vegetable and fruit picking machine body 2, the control system 18 includes a control box, a touch screen and a knob installed on the outer wall of the control box, and also includes a controller installed inside the control box, Power supply device and circuit; a power supply module is also provided inside the body of the vegetable and fruit picking machine.

An air pump 16 is further installed on the main body 2 of the vegetable and fruit picking machine. The air pump 16 is connected to one end of an air pipe 17 and the other end of the air pipe 17 is connected to the pneumatic motor 9.

A collecting basket 19 is also provided on the body 2 of the vegetable and fruit picking machine near the reversible fruit tray 12, and a weight sensor is provided inside the collecting basket 19.

The method includes the following steps:

(1) Start the fruit and vegetable picking machine body 2 and supply power through the power supply device. The fruit and vegetable picking machine body 2 moves forward on the ground track 1 at a set speed. Both sides of the ground track 1 are planted with red fruits and vegetables, and the retractable connecting rod 8 is located In the retracted state, and in the middle of the slide rail 4, the pneumatic scissors 11 is in the open state;

(2) The image color sensor 10 is installed in the front section of the telescopic connecting rod 8 directly below the pneumatic scissors 11; when the fruit and vegetable picking machine body 2 is not working, the color information of the red fruits and vegetables is collected and recorded by the image color sensor 10 The color information is input to the control system 18, and the entered color information is used as a comparison sample; when the body 2 of the fruit and vegetable picker starts to move forward along the ground track 1, the image color sensor 10 collects the color information of the shooting in real time, and when the red information is collected At the same time, the real-time and comparative samples are compared. At the same time, the control system 18 controls the fruit and vegetable picker body 2 to stop moving forward, fine-tuning the fruit and vegetable picker body 2 to move forward and backward on the ground track 1, and the retractable connecting rod 8 moves up and down on the slide rail 4, The main body 2 of the fruit and vegetable picking machine is moved horizontally, and the telescopic connecting rod 8 is simultaneously moved up and down, and the two are simultaneously moved to the position where the collected red information has the highest similarity value to the previously entered red information;

(3) When the step (2) is completed, the fruit and vegetable picker body 2 stops moving back and forth along the ground track 1 and the telescopic connecting rod 8 stops moving up and down; the control system 18 controls the telescopic connecting rod 8 to extend forward when When the color area of the fruit collected by the image color sensor 10 at the front end of the telescopic connecting rod 8 is greater than 80% of the entire image area, the telescopic connecting rod 8 stops extending;

(4) When step (3) is completed, the control system 18 controls the action of the pneumatic scissors 11 to complete the operation of cutting the stems, and the red fruits and vegetables fall into the reversible fruit holder 12.

(5) When step (4) is completed, the retractable connecting rod 8 retracts back, and when the retractable connecting rod 8 retracts to its original state, the servo 13 connected to the reversible fruit holder 12 starts to move , Control the reversible fruit holder 12 to be turned about 110°, so that the fruit in the reversible fruit holder 12 falls into the collection basket 19 on the body 2 of the fruit and vegetable picking machine;

(6) After completing a picking task, the body 2 of the fruit and vegetable picking machine starts to move forward in preparation for the next picking operation;

(7) When the ground track 1 is completely laid on the ground of the planting area, the fruit and vegetable picking machine body 2 can complete the autonomous walking action requirements on the ground track 1 and complete the picking task of ripe vegetables and fruits.

(8) When the weight of the fruits and vegetables in the collection basket 19 reaches the weight value set by the weight sensor, the body 2 of the fruit and vegetable picking machine stops moving forward and issues an alarm.

Beneficial effects of the present invention: 1. As long as the ground track 1 is laid in the planting area, the fruit and vegetable picking machine body 2 moves according to the ground track 1 in the planting area without deviation and high efficiency; 2. The control system 18 is based on the color of the collected image Information, adjust the front and back positions of the vegetable and fruit picking machine body 2, the up and down positions of the telescopic connecting rod 8, the telescopic connecting rod 8 reaches the upper end of the stalks of the vegetables and fruits, and then control the pneumatic scissors 11 to cut the stalks, the fruits and vegetables can be turned over

Fruit concentrator

12, 3, the control system 18 sends a command, the retractable connecting rod 8 retracts, the servo 13 connected to the reversible fruit concentrator 12 rotates 110°, and the items in the reversible fruit contributor 12 fall into Collect basket 19. The invention has the characteristics of high operating efficiency, very low work labor intensity and ideal harvesting effect.

Claims

A vegetable and fruit picking machine device is characterized by comprising: a ground track fixed on the ground, a movable vegetable and fruit picking machine body is provided on the ground track, and a supporting frame is provided on the vegetable and fruit picking machine body , Two vertical slide rails are installed on the support frame, a support plate horizontally arranged between the two slide rails is also provided on the support frame, and a servo motor is provided on the support plate , A screw rod is connected to the output end of the servo motor, and a retractable connecting rod that moves relative to the screw rod is also provided, and an induction system is installed at one end of the retractable connecting rod. The induction system includes a pneumatic A motor, an image color sensor, a pneumatic scissors, and a reversible fruit holder. A servo for turning the reversible fruit holder is connected to the reversible fruit holder.
The device for picking vegetables and fruits according to claim 1, characterized in that a connecting plate with a slider is fixedly installed at one end of the retractable connecting rod, and the slider on the connecting plate and the corresponding The sliding rails on the support frame are in sliding fit.
The vegetable and fruit picking machine device according to claim 2, characterized in that limit switches are installed on the upper and lower ends of the slide rail.
The vegetable and fruit picking machine device according to claim 1, wherein a control system is further provided inside the vegetable and fruit picking machine body, and the control system includes a control box and a touch screen mounted on the outer wall of the control box , Knob, also includes the controller, power supply device and circuit installed inside the control box;

A power supply module is also provided inside the body of the vegetable and fruit picking machine.
The vegetable and fruit picking machine device according to claim 1, wherein an air pump is further installed on the body of the vegetable and fruit picking machine, the air pump is connected to one end of an air pipe, and the other end of the air pipe is connected to On the pneumatic motor.
The device for picking vegetables and fruits according to claim 1, wherein a collecting basket is further provided on the main body of the fruit and vegetables picking machine near the reversible fruit tray, and a collecting basket is provided inside the collecting basket There is a weight sensor.
A picking method for a vegetable and fruit picking machine device according to claims 1-6, characterized in that the method includes the following steps:

(1) Start the fruit and vegetable picking machine body, and supply power through the power supply device. The fruit and vegetable picking machine body moves forward on the ground track at a set speed. There are red fruits and vegetables planted on both sides of the ground track. The retractable connecting rod is in a contracted state and is in In the middle of the slide rail, the pneumatic scissors are open;

(2), the image color sensor is installed in the front section of the telescopic connecting rod, directly below the pneumatic scissors; when the fruit and vegetable picking machine body is not working, the color information of the red fruits and vegetables is collected and input by the image color sensor, and the entered color information is input to the control The system uses the entered color information as a comparison sample; when the body of the fruit and vegetable picking machine starts to move forward along the ground track, the image color sensor collects the color information in real time, and when the red information is collected, it compares with the comparison sample in real time. At the same time, the control system controls the body of the fruit and vegetable picking machine to stop moving forward, fine-tuning the body of the fruit and vegetable picking machine to move forward and backward on the ground track, the telescopic connecting rod moves up and down on the slide rail, so that the main body of the fruit and vegetable picking machine moves horizontally, and the telescopic connecting rod moves up and down The direction moves at the same time, and the two move to the position where the collected red information has the highest similarity value to the previously entered red information;

(3) When step (2) is completed, the fruit and vegetable picker body stops moving back and forth along the ground track, and the retractable connecting rod stops moving up and down; the control system controls the retractable connecting rod to extend forward, when the front end of the retractable connecting rod When the color area of the fruit collected by the image color sensor in real time is greater than 80% of the entire image area, the retractable connecting rod stops extending;

(4) When step (3) is completed, the control system controls the action of pneumatic scissors to complete the cutting of the stems, and the red fruits and vegetables fall into the reversible fruit holder.

(5). When step (4) is completed, the retractable connecting rod retracts back. When the retractable connecting rod retracts to its original state, the servo connected to the reversible fruit holder starts to move, and the reversible control is controlled. The fruit tray is turned at about 110°, so that the fruit in the reversible fruit tray falls into the collection basket on the body of the fruit and vegetable picking machine;

(6) After completing a picking task, the body of the fruit and vegetable picking machine begins to move forward, preparing for the next picking operation;

(7) When the ground of the planting area is completely laid with ground tracks, the body of the fruit and vegetable picking machine can complete the requirements of autonomous walking on the ground track and complete the task of picking mature fruits and vegetables.

(8) When the weight of the fruits and vegetables in the collection basket reaches the weight value set by the weight sensor, the weight sensor transmits the information to the machine body, and the body of the fruit and vegetable picking machine stops moving forward and issues an alarm.