Device for nondestructive picking, quality inspection and classification of table grapes and control method of device

Abstract

The invention discloses a device for nondestructive picking, quality inspection and classification of table grapes and a control method of the device. A mechanical arm picking device is arranged at one end of a mobile vehicle, wherein a mechanical arm comprises a multi-joint mechanical arm and an end picker; target identification equipment and control equipment are respectively arranged on both sides of the mobile vehicle; a conveying system is arranged in the middle position of the mobile vehicle; a quality inspection box is arranged above the conveying system; classification packing devicesare arranged on both sides and a tail end of the conveying system; the mobile vehicle, the mechanical arm picking device, the target identification equipment and the conveying system are electricallyconnected with the control equipment. Picked grapes are conveyed into the quality inspection box by the conveying system to determine grades of the grapes; the grapes are conveyed to the classification packing device by the conveying system after determining the grades, and are classified by entering different fruit boxes according to the corresponding grades, thereby realizing picking, grade detection and classification packing of the grapes.

Description

technical field [0001] The application relates to the technical field of fruit picking, in particular to a non-destructive picking quality detection and grading device for table grapes and a control method thereof. Background technique [0002] Today, my country is a big country in grape planting and production, but the export proportion of fresh table grapes is very small, and the unit price is low. The main reason is that the commercialization level of table grapes in my country is relatively low, especially the non-destructive picking and optimal grading of table grapes. Grape picking is a time-consuming and laborious work. Grape harvesting is seasonal, requires a lot of labor, and the picking efficiency is low. [0003] Grape is a berry fruit that grows in clusters. The fruit has thin skin and large grains, less juice and more water, and is vulnerable to mechanical damage. This damage will accelerate the aging, corruption and deterioration of grapes, seriously affecting...

AI Technical Summary

Problems solved by technology

At present, the picking and grading of table grapes mainly rely on manual labor, which is labor-intensive, time-consuming, costly and prone to artificial mechanical damage to grapes.

[0004] Although there are grape picking machines or sorting machines in the

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