Intelligent litchi picking and sorting machine and working method thereof

Abstract

The invention discloses an intelligent litchi picking and sorting machine and a working method thereof. The intelligent litchi picking and sorting machine comprises a rack, a walking mechanism, a picking mechanism and a sorting mechanism, the walking mechanism, the picking mechanism and the sorting mechanism are arranged on the rack, and the picking mechanism and the sorting mechanism are both located above the walking mechanism; the picking mechanism comprises a manipulator, a picking device and a picking camera, the picking device and the picking camera are both arranged at the tail end of the manipulator, the picking device comprises an electric mechanical claw, and the electric mechanical claw is used for grabbing fruits recognized by the picking camera; the sorting mechanism comprises a mechanical arm, a shearing device and a sorting camera, the shearing device and the sorting camera are both arranged at the tail end of the mechanical arm, after the electric mechanical claw grabs the fruits, the sorting camera recognizes branches connected with the fruits, and the shearing device shears the branches connected with the fruits. By adopting the arrangement, automatic picking and sorting of litchis can be realized, so that the picking efficiency is improved, and meanwhile, the quality and the yield of picked fruit products can be ensured.

Description

Technical Field

[0001] The present application belongs to the technical field of fruit picking equipment and methods, and specifically relates to an intelligent litchi picking and sorting machine and a working method thereof. Background Art

[0002] In today's era, my country's agricultural technology is constantly developing, however, the process of agricultural mechanization and intelligentization is imminent. As a major aquatic production country, my country has vast waters and abundant aquatic resources, but it is undeniable that there is still a lot of room for improvement in its technological development. The improvement of agricultural productivity is inseparable from intelligent and automated mechanical equipment. With the continuous improvement of people's living standards, the demand for agricultural products is becoming increasingly diversified and high-quality. Therefore, in order to improve the efficiency and production efficiency of fruit picking, and to ensure the quality and yield of the picked fruit products after picking, it is also necessary to design corresponding fruit picking and sorting equipment, such as equipment for litchi trees, longan trees, etc. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide an intelligent litchi picking and sorting machine and a working method thereof, which can automatically pick and sort litchis to improve the picking efficiency while ensuring the quality and yield of the picked fruit products.

[0004] The purpose of the embodiments of the present application is achieved through the following technical solutions:

[0005] In the first aspect, an embodiment of the present application proposes an intelligent picking and sorting lychee machine, comprising a frame, and a walking mechanism, a picking mechanism, and a sorting mechanism arranged on the frame, wherein the picking mechanism and the sorting mechanism are both located above the walking mechanism; the picking mechanism comprises a manipulator, a picking device, and a picking camera, wherein the picking device and the picking camera are both arranged at the end of the manipulator, and the picking device comprises an electric mechanical claw, which is used to grab the fruit according to the fruit identified by the picking camera; the sorting mechanism comprises a manipulator arm, a shearing device, and a sorting camera, wherein the shearing device and the sorting camera are both arranged at the end of the manipulator arm, and after the electric mechanical claw grabs the fruit, the sorting camera identifies the branch to which the grabbed fruit is connected, and the shearing device cuts the branch to which the fruit is connected.

[0006] Furthermore, a mounting frame is provided at the end of the manipulator, and an inner cavity is opened in the mounting frame. The electric mechanical claw includes an angle adjustment piece and a clamping arm. The angle adjustment piece is arranged in the inner cavity, and the clamping arm is rotatably installed at the cavity mouth position of the inner cavity. The rotating shaft of the clamping arm is connected to the adjusting end of the angle adjustment piece, and the angle adjustment piece adjusts the opening and closing angle of the clamping arm.

[0007] Furthermore, the angle adjustment member includes a linear drive member, a push plate and two telescopic rods, the linear drive member is arranged in the inner cavity, the protruding end of the linear drive member faces the cavity opening of the inner cavity, the push plate is arranged at the protruding end of the linear drive member, one end of the two telescopic rods are provided with fan-shaped teeth, the two telescopic rods respectively correspond to the two clamping claws of the clamping arm, the center point position of the fan-shaped teeth at one end of the telescopic rod is rotatably connected with the push plate, the fan-shaped teeth of the two telescopic rods are meshed, and the other ends of the two telescopic rods are respectively connected with the rotating shafts of the two clamping claws of the clamping arm; when the linear drive member drives the push plate to move linearly, the telescopic rod rotates about the center of the fan-shaped teeth, and the telescopic rod will adaptively perform telescopic movement, and at the same time drive the two clamping claws of the clamping arm to perform opening / closing movement.

[0008] Furthermore, the two clamping jaws of the clamping arm each include a plurality of strip clamps, which are arranged at intervals along the rotating axis of the clamping arm, and the strip clamps are arc-shaped, and a plurality of teeth are provided on the inner wall of the strip clamp facing the other clamping jaw.

[0009] Furthermore, a connecting frame is provided at the end of the robotic arm, the connecting frame has a working cavity, and the shearing device is arranged in the working cavity; the shearing device includes a reciprocating member and a mechanical shear, the mechanical shear includes a fixed knife and a movable knife, the fixed knife is fixedly arranged at the cavity opening of the working cavity, the movable knife is arranged at the movable end of the reciprocating member, and the movable knife moves toward the fixed knife through the reciprocating member.

[0010] Furthermore, the reciprocating moving part includes a rotating part, a crank slider mechanism and a slider, the rotating part is arranged in the working chamber, the crank end of the crank slider mechanism is connected to the rotating end of the rotating part, the slider is rotatably connected to the slider end of the crank slider mechanism, the slider is slidably connected to the inner wall of the working chamber, and the movable knife is connected to the slider; the rotating part rotates, and the slider and the movable knife are driven to perform reciprocating sliding motion through the crank slider mechanism.

[0011] Furthermore, the manipulator and the robotic arm are both five-axis robots, and the ends of the manipulator and the robotic arm can move to any position.

[0012] Furthermore, a plurality of fruit frames are provided on the frame, and the picking mechanism uses the picking camera to identify the size and quality of the fruit, so as to place different good fruits, bad fruits, large fruits and small fruits in different fruit frames.

[0013] Furthermore, the walking mechanism adopts a crawler mechanism.

[0014] In a second aspect, the embodiment of the present application proposes a method for using an intelligent litchi picking and sorting machine, using the above-mentioned intelligent litchi picking and sorting machine, comprising the following steps:

[0015] S10: The intelligent sorting and picking litchi sorting machine moves to the litchi tree to be picked through the walking mechanism;

[0016] S20: The picking camera processes the image through an image processing algorithm and extracts and identifies features of the litchi; the sorting camera processes the image through an image processing algorithm and extracts and identifies features of litchi connecting branches;

[0017] S30: The picking mechanism moves the electric mechanical claw through the manipulator, and during the movement, with the help of the picking camera to identify the characteristics of the litchi, the electric mechanical claw is moved to the position adjacent to the litchi and grabs the litchi; the sorting mechanism moves the shearing device through the manipulator, and during the movement, with the help of the sorting camera to identify the characteristics of the branch connected to the litchi, the shearing device is moved to the branch connected to the litchi and shears the branch;

[0018] S40: After the sorting mechanism cuts the branches connected to the litchi, the picking camera analyzes the size, bad fruit condition, and rotten fruit condition of the litchi held, and then classifies the variety and grade of the litchi, and then places the litchis of different grades in different fruit frames through the robot;

[0019] S50: When the picking and sorting operations are performed using the picking mechanism and the sorting mechanism, the intelligent litchi sorting machine moves around the tree regularly through the walking mechanism. When the litchis on the litchi tree are picked, the walking mechanism moves to the next litchi tree to continue picking.

[0020] This application has the following beneficial effects:

[0021] 1. This application realizes the function of replacing artificial intelligence in picking litchi fruits by setting a walking mechanism, a picking mechanism, a sorting mechanism and several fruit frames on the frame. Among them, the intelligent picking and sorting litchi machine of this application is moved to the side of or under the corresponding litchi tree by the walking mechanism, and then the picking device and the picking camera are moved by the manipulator. At the same time, the picking camera will identify, locate and automatically sort the litchi on the litchi tree, so that the manipulator can move the automatic mechanical claw of the picking device to the position of the corresponding litchi according to the positioning and automatic sorting function of the picking camera and perform the grasping operation; then, the sorting camera can identify and locate the characteristics of the branches connected to the litchi clamped by the picking mechanism, so that the manipulator can cut the branches connected to the clamped litchi by the shearing device of the sorting mechanism according to the positioning function of the sorting camera, so as to facilitate the picking mechanism to take the litchi out of the litchi tree and place it in the fruit frame. Thereby, the function of replacing artificial intelligence in picking lychees is realized. At the same time, in this process, the branches connected to the lychees are cut by a shearing device instead of directly pulling out the lychees by a picking device, thereby reducing damage to the lychees and maintaining the quality of the lychees.

[0022] 2. The method of using the intelligent picking and sorting litchi machine of the present application adopts the method steps of S10 to S50, so as to use the picking and sorting litchi machine to move under the litchi tree, and identify, locate and automatically sort the litchi on the litchi tree under the picking camera to identify the size, shape, color and other characteristics of the litchi, and then use the manipulator to drive the electric manipulator to move along the specified trajectory to clamp the litchi well; then the sorting camera identifies the litchi connecting branches, and the sorting camera will also identify the branches near one end of the trunk in the electric manipulator, so as to facilitate the mechanical arm to move the shearing device to shear the branches at that end, and the walking mechanism will move the picking and sorting litchi machine to other locations or litchi trees, so as to facilitate the picking and sorting of all litchi. It can be seen from this that the intelligent picking and sorting litchi machine of the present application can better replace manual picking and sorting operations when in use, and can reduce the damage to the litchi shell, so it has the advantages of high efficiency and improved litchi fruit quality and yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of this application.

[0024] Figure 2 This is a cross-sectional view of the overall structure from another perspective of the present application.

[0025] Figure 3 for Figure 2 A partial enlarged view of point A in the middle.

[0026] Figure 4 for Figure 2 A partial enlarged view of point B in the middle.

[0027] In the figure:

[0028] 1. Frame; 2. Picking mechanism; 21. Robot; 22. Angle adjustment member; 221. Linear drive member; 222. Push plate; 223. Telescopic rod; 224. Fan-shaped teeth; 23. Clamp arm; 231. Clamp claw; 232. Strip clamp; 233. Teeth; 24. Picking camera; 25. Mounting frame; 251. Inner cavity; 3. Sorting mechanism; 31. Robot arm; 32. Reciprocating member; 321. Rotating member; 322. Crank slider mechanism; 323. Slider; 33. Mechanical shears; 331. Fixed knife; 332. Movable knife; 34. Connecting frame; 341. Working cavity; 35. Sorting camera; 4. Walking mechanism; 5. Fruit frame. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The terms such as "upper", "inner", "middle", "left", "right" and "one" cited in this specification are only for the convenience of description, and are not used to limit the scope of implementation of the present application. The change or adjustment of their relative relationship shall also be regarded as the scope of implementation of the present application without substantially changing the technical content.

[0030] Example 1

[0031] In order to replace manual automatic picking and sorting of lychees, improve the efficiency of fruit picking, and improve the quality and yield of fruits during picking, the present application designs an intelligent picking and sorting lychee machine. The structure of the intelligent picking and sorting lychee machine of the present application is introduced as follows:

[0032] like Figures 1 to 4 As shown, an intelligent lychee picking and sorting machine shown in this embodiment includes a frame 1, and a traveling mechanism 4, a picking mechanism 2, a sorting mechanism 3 and a plurality of fruit frames 5 arranged on the frame 1, and the picking mechanism 2 and the sorting mechanism 3 are both located above the traveling mechanism 4. The traveling mechanism 4 adopts a crawler mechanism, which is specifically a spliced ​​crawler. The spliced ​​crawler adopts a strip crawler and a ladder crawler, which can realize crawling on flat ground, dirt road, uphill and downhill, and has the advantage of strong ground adaptability.

[0033] The picking mechanism 2 and the sorting mechanism 3 of this embodiment will be further described below.

[0034] The picking mechanism 2 includes a manipulator 21, a picking device and a picking camera 24; the manipulator 21 is a five-axis robot, which can be moved at any position; the picking device and the picking camera 24 are both arranged at the end of the manipulator 21; the picking camera 24 is used to identify the shape, color, size and other characteristics of the litchi, so as to assist the picking mechanism 2 in picking the litchi after identifying the litchi. Among them, the picking device includes an electric mechanical claw, which is used to move the electric mechanical claw to grab the litchi according to the litchi identified by the picking camera 24 by using the manipulator 21.

[0035] The sorting mechanism 3 includes a mechanical arm 31, a shearing device and a sorting camera 35; the mechanical arm 31 adopts a five-axis robot, which can realize movement at any position; the shearing device and the sorting camera 35 are both arranged at the end of the mechanical arm 31; the sorting camera 35 is used to identify the characteristics of the branches connected to the litchi, so as to assist the sorting mechanism 3 to identify the branches connected to the litchi for shearing; therefore, after the electric mechanical claw grabs the fruit, the sorting camera 35 identifies the branch connected to the grabbed fruit, and the shearing device cuts the branch connected to the fruit.

[0036] The fruit frame 5, the picking mechanism 2 and the sorting mechanism 3 are located on the same plane of the frame 1, so that the picking mechanism 2 can place the litchi in the corresponding fruit frame 5. The number of the fruit frame 5 is one or more. When the number of the fruit frame 5 is multiple, multiple fruit storage spaces can be formed by dividing a larger fruit frame 5 with partitions. The picking mechanism 2 uses the picking camera 24 to identify the size and quality of the fruit, so as to place different good fruits, bad fruits, large fruits and small fruits in different fruit frames 5.

[0037] Based on this, the present application realizes the function of replacing artificial intelligence in picking litchi fruits by setting a walking mechanism 4, a picking mechanism 2, a sorting mechanism 3 and a plurality of fruit frames 5 on the frame 1. Among them, the intelligent picking and sorting litchi machine of the present application is moved to the side of or under the corresponding litchi tree by the walking mechanism 4, and then the picking device and the picking camera 24 are moved by the manipulator 21. At the same time, the picking camera 24 will identify, locate and automatically sort the litchi on the litchi tree, so that the manipulator 21 can move the automatic mechanical claw of the picking device to the position of the corresponding litchi according to the positioning and automatic sorting function of the picking camera 24 and perform a grasping operation; then, the sorting camera 35 can identify and locate the branch features connected to the litchi clamped by the picking mechanism 2, so that the manipulator 31 can cut the branch connected to the clamped litchi by the shearing device of the sorting mechanism 3 according to the positioning function of the sorting camera 35, so as to facilitate the picking mechanism 2 to take the litchi out of the litchi tree and place it in the fruit frame 5. Thereby, the function of replacing artificial intelligence in picking lychees is realized. At the same time, in this process, the branches connected to the lychees are cut by a shearing device instead of directly pulling out the lychees by a picking device, thereby reducing damage to the lychees and maintaining the quality of the lychees.

[0038] In this embodiment, Figures 1 to 3 As shown, a mounting frame 25 is provided at the end of the manipulator 21, and an inner cavity 251 is provided at the end of the mounting frame 25. A picking camera 24 is provided on the mounting frame 25, and the camera end of the picking camera 24 is oriented in the same direction as the cavity opening of the inner cavity 251. The electric mechanical claw includes an angle adjustment member 22 and a clamping arm 23. The angle adjustment member 22 is provided in the inner cavity 251, and the clamping arm 23 is rotated to be installed at the cavity opening position of the inner cavity 251. The rotating shaft of the clamping arm 23 is connected to the adjustment end of the angle adjustment member 22, and the angle adjustment member 22 adjusts the opening and closing angle of the clamping arm 23. Therefore, by providing the angle adjustment member 22 and the clamping arm 23, the angle adjustment member 22 is used to adjust the clamping angle of the clamping arm 23, thereby realizing the function of clamping fruits of different sizes.

[0039] Since there are many lychees on the lychee tree, sometimes multiple lychees will be gathered together, and the shell of lychees will sometimes be broken when squeezed by external force. Therefore, in order to facilitate the electric mechanical claw to simultaneously clamp the branches connected to multiple lychees and avoid the electric mechanical claw to directly clamp the shell of lychees to protect the lychees, the clamp arm 23 of the electric mechanical claw is designed as follows: the clamp arm 23 includes two clamp jaws 231, and the two clamp jaws 231 of the clamp arm 23 include more than two strip clamps 232. The multiple strip clamps 232 of the clamp jaw 231 are arranged at intervals along the rotating shaft of the clamp arm 23, and the gap between adjacent strip clamps 232 is greater than twice the diameter of the lychee. The strip clamp 232 is in an arc shape, and the inner wall of the strip clamp 232 facing the other clamp jaw 231 is provided with a plurality of teeth 233. Moreover, the multiple strip clamps 232 of the two clamping jaws 231 are staggered and distributed. Therefore, when the multiple strip clamps 232 of the two clamping jaws 231 are controlled by the angle adjustment member 22 to interlace and clamp the branches connected to the litchi, the litchi can be better placed in the staggered gaps between adjacent strip clamps 232. At the same time, the teeth 233 on the inner wall of the strip clamp 232 can increase the clamping bite force on the branches connected to the litchi, thereby improving the clamping stability.

[0040] Based on the above-mentioned improvements to the clamping arm 23 of the electric mechanical gripper, the identification and positioning function of the sorting camera 35 of the sorting mechanism 3 can directly identify and locate the branches close to the trunk of the lychee tree in the electric mechanical claw, thereby facilitating the shearing device of the sorting mechanism 3 to shear a section of the branches of the electric mechanical claw, thereby improving the shearing efficiency and picking efficiency.

[0041] At the same time, regarding the angle adjustment member 22, the angle adjustment member 22 includes a linear drive member 221, a push plate 222 and two telescopic rods 223. The linear drive member 221 can adopt an electric cylinder, a pneumatic cylinder or an oil cylinder. The linear drive member 221 is arranged in the inner cavity 251, and the protruding end of the linear drive member 221 faces the cavity opening of the inner cavity 251. The push plate 222 is arranged at the protruding end of the linear drive member 221. The telescopic rod 223 can adopt an elastic sleeve structure, and one end of the two telescopic rods 223 is provided with a fan-shaped tooth 224. The two telescopic rods 223 correspond to the two clamping claws 231 of the clamping arm 23 respectively. The center point of the fan-shaped tooth 224 at one end of the telescopic rod 223 is rotatably connected to the push plate 222, and the teeth 233 of the two fan-shaped teeth 224 are meshed. The other end of the telescopic rod 223 is fixedly connected to the rotating shaft of the clamping arm 23. When the linear driving member 221 drives the pushing plate to move linearly, the fan-shaped teeth 224 of the two telescopic rods 223 rotate adaptively about the center of the circle. At the same time, the meshing of the two fan-shaped teeth 224 can improve the stability of the rotational movement of the two telescopic rods 223. At the same time, the rotation of the telescopic rod 223 drives the two clamping claws 231 of the clamping arm 23 to open / close, and the telescopic rod 223 will adaptively perform telescopic movement, thereby realizing the effect of using the angle adjustment member 22 to adjust the two clamping claws 231 of the clamping arm 23 to clamp or release the fruit.

[0042] In this embodiment, Figures 1 to 4 As shown, a connecting frame 34 is provided at the end of the mechanical arm 31, a working chamber 341 is provided at the front end of the connecting frame 34, and a shearing device is provided in the working chamber 341; the shearing device includes a reciprocating member 32 and a mechanical shear 33, and the mechanical shear 33 includes a fixed knife 331 and a movable knife 332, the fixed knife 331 is fixedly provided at the cavity opening of the working chamber 341, and the movable knife 332 is provided at the moving end of the reciprocating member 32, and the movable knife 332 moves toward the fixed knife 331 through the reciprocating member 32. Therefore, the branch clamped by one end of the clamping arm 23 of the electric mechanical claw is identified and located by the sorting camera 35, and then the branch is sheared after the mechanical arm 31 moves the shearing device.

[0043] Among them, the reciprocating moving member 32 includes a rotating member 321, a crank slider mechanism 322 and a slider 323. The rotating member 321 adopts a motor, and the rotating member 321 is arranged in the working chamber 341. The crank end of the crank slider mechanism 322 is connected to the rotating end of the rotating member 321, and the slider 323 is rotatably connected to the slider 323 end of the crank slider mechanism 322 (in this embodiment, the crank slider mechanism 322 includes a short rod and a long rod whose ends are hinged to each other, the end of the short rod is connected to the rotating end of the rotating member 321, and the slider 323 is rotatably connected to the end of the long rod). The slider 323 is slidably connected to the inner wall of the working chamber 341, and the movable knife 332 is connected to the slider 323; when the rotating member 321 rotates, the short rod is driven to rotate to form a crank structure, so as to drive the slider 323 and the movable knife 332 to perform reciprocating sliding motion through the crank slider mechanism 322, thereby realizing the shearing operation.

[0044] Example 2

[0045] This embodiment provides a method for using an intelligent litchi picking and sorting machine, using the intelligent litchi picking and sorting machine as in Embodiment 1, including the following steps:

[0046] S10: The intelligent sorting and picking lychee sorting machine moves to the lychee tree to be picked through the walking mechanism 4;

[0047] S20: The picking camera 24 processes the image through an image processing algorithm and extracts and identifies features of the litchi; the sorting camera 35 processes the image through an image processing algorithm and extracts and identifies features of litchi connected to branches;

[0048] S30: The picking mechanism 2 moves the electric mechanical claw through the manipulator 21, and during the movement, with the help of the picking camera 24 to identify the characteristics of the litchi, the electric mechanical claw is moved to the position adjacent to the litchi and grabs the litchi; the sorting mechanism 3 moves the shearing device through the manipulator 31, and during the movement, with the help of the sorting camera 35 to identify the characteristics of the litchi connecting branch, the shearing device is moved to the branch connected to the litchi and cuts the branch;

[0049] S31: When the picking mechanism 2 grasps the litchi by the electric mechanical claw, the following method is adopted: the linear driving member 221 drives the pushing plate to move linearly, so that the two telescopic rods 223 can perform adaptive rotational movement about the center of the circle of the fan-shaped teeth 224, that is, when the pushing plate is extended, the two telescopic rods 223 are both opened outward, and at the same time, the two clamping claws 231 of the clamping arm 23 are both opened outward synchronously; and vice versa, the two clamping claws 231 of the clamping arm 23 are both brought close to each other to achieve the clamping action; when the two clamping claws 231 of the clamping arm 23 clamp the litchi, the litchi will be preferably placed in the dislocated gap of the adjacent strip clamps 232, and at the same time, the teeth 233 on the inner wall of the strip clamp 232 can improve the clamping bite force on the branches connected to the litchi, so as to clamp more litchi at one time;

[0050] S32: When the sorting mechanism 3 cuts the branches connected to the litchi by the shearing device, the following method is adopted: the rotating member 321 drives the crank end of the crank slider mechanism 322 to rotate continuously, and at the same time, the slider 323 and the movable knife 332 of the crank slider mechanism 322 continuously reciprocate to achieve the function of cutting the branches;

[0051] S40: After the sorting mechanism 3 cuts the branches connected to the litchi, the picking camera 24 analyzes the size, bad fruit condition, and bad fruit condition of the clamped litchi, and then classifies the variety and grade of the litchi, and then places the litchis of different grades in different fruit frames 5 through the robot 21;

[0052] S50: When the picking and sorting operations are performed using the picking mechanism 2 and the sorting mechanism 3, the intelligent litchi sorting machine moves around the tree regularly through the walking mechanism 4. When the litchis on the litchi tree are picked, the walking mechanism 4 moves to the next litchi tree to continue picking.

[0053] Based on this, the method of using the intelligent picking and sorting litchi machine of the present application adopts method steps S10 to S50 to use the picking and sorting litchi machine to move under the litchi tree, and under the picking camera to identify the size, shape, color and other characteristics of the litchi, identify, locate and automatically sort the litchi on the litchi tree, and then use the manipulator 21 to drive the electric manipulator 21 to move along the specified trajectory and clamp the litchi well; then the sorting camera 35 identifies the branches of the litchi connecting line, and at the same time, the sorting camera 35 will also identify the branches of the electric manipulator 21 close to one end of the trunk, so as to facilitate the manipulator 31 to move the shearing device to shear the branches at that end. During this period, the walking mechanism 4 will move the picking and sorting litchi machine to other locations or litchi trees, so as to facilitate the picking and sorting of all litchis. It can be seen from this that the intelligent lychee picking and sorting machine of the present application can better replace manual picking and sorting operations when in use, and at the same time can reduce damage to the lychee shell. Therefore, it has the advantages of high efficiency and improved lychee fruit quality and yield.

[0054] The implementation methods of the present application are not limited to this. According to the above content of the present application, by utilizing common technical knowledge and customary means in the field, without departing from the above basic technical ideas of the present application, the present application may also make other various forms of modification, replacement or combination, all of which fall within the scope of protection of the present application.

Claims

1. An intelligent litchi picking and sorting machine, characterized in that: It comprises a frame, and a traveling mechanism, a picking mechanism, and a sorting mechanism arranged on the frame, wherein the picking mechanism and the sorting mechanism are both located above the traveling mechanism; The picking mechanism includes a manipulator, a picking device and a picking camera, wherein the picking device and the picking camera are both arranged at the end of the manipulator, and the picking device includes an electric mechanical claw, which is used to grab the fruit according to the fruit identified by the picking camera; The sorting mechanism includes a mechanical arm, a shearing device and a sorting camera. The shearing device and the sorting camera are both arranged at the end of the mechanical arm. After the electric mechanical claw grabs the fruit, the sorting camera identifies the branch connected to the grabbed fruit, and the shearing device cuts the branch connected to the fruit.

2. The intelligent litchi picking and sorting machine according to claim 1, characterized in that: A mounting frame is provided at the end of the manipulator, and an inner cavity is opened in the mounting frame. The electric mechanical claw includes an angle adjustment member and a clamping arm. The angle adjustment member is arranged in the inner cavity. Both clamping jaws of the clamping arm are rotated to be installed at the cavity mouth position of the inner cavity. The rotating shaft of the clamping arm is connected to the adjusting end of the angle adjustment member, and the angle adjustment member adjusts the opening and closing angle of the clamping arm.

3. The intelligent litchi picking and sorting machine according to claim 2, characterized in that: The angle adjustment member includes a linear drive member, a push plate and two telescopic rods, the linear drive member is arranged in the inner cavity, the protruding end of the linear drive member faces the cavity opening of the inner cavity, the push plate is arranged at the protruding end of the linear drive member, one end of the two telescopic rods are provided with fan-shaped teeth, the two telescopic rods respectively correspond to the two clamping claws of the clamping arm, the center point position of the fan-shaped teeth at one end of the telescopic rod is rotatably connected with the push plate, the fan-shaped teeth of the two telescopic rods are meshed, and the other ends of the two telescopic rods are respectively connected with the rotating shafts of the two clamping claws of the clamping arm; when the linear drive member drives the push plate to move linearly, the telescopic rod rotates about the center of the fan-shaped teeth, and at the same time, the telescopic rod will adaptively perform telescopic movement, and at the same time drive the two clamping claws of the clamping arm to perform opening / closing movement.

4. The intelligent litchi picking and sorting machine according to claim 2, characterized in that: The two clamping jaws of the clamping arm each include a plurality of strip clamps, which are arranged at intervals along the rotating shaft of the clamping arm, and are in an arc shape. The inner wall of the strip clamp facing the other clamping jaw is provided with a plurality of teeth.

5. The intelligent litchi picking and sorting machine according to claim 1, characterized in that: A connecting frame is provided at the end of the robotic arm, and a working cavity is opened in the connecting frame, and the shearing device is arranged in the working cavity; the shearing device includes a reciprocating member and a mechanical shear, and the mechanical shear includes a fixed knife and a movable knife, the fixed knife is fixedly arranged at the cavity opening of the working cavity, and the movable knife is arranged at the movable end of the reciprocating member, and the movable knife moves toward the fixed knife through the reciprocating member.

6. The intelligent litchi picking and sorting machine according to claim 5, characterized in that: The reciprocating moving part includes a rotating part, a crank slider mechanism and a slider, the rotating part is arranged in the working chamber, the crank end of the crank slider mechanism is connected to the rotating end of the rotating part, the slider is rotatably connected to the slider end of the crank slider mechanism, the slider is slidably connected to the inner wall of the working chamber, and the movable knife is connected to the slider; the rotating part rotates, and the slider and the movable knife are driven to perform reciprocating sliding motion through the crank slider mechanism.

7. The intelligent litchi picking and sorting machine according to claim 1, characterized in that: The manipulator and the mechanical arm are both five-axis robots, and the ends of the manipulator and the mechanical arm can realize movement at any position.

8. The intelligent litchi picking and sorting machine according to claim 1, characterized in that: A plurality of fruit frames are arranged on the frame, and the picking mechanism uses the picking camera to identify the size and quality of the fruit, so as to place different good fruits, bad fruits, large fruits and small fruits in different fruit frames.

9. The intelligent litchi picking and sorting machine according to claim 1, characterized in that: The walking mechanism adopts a crawler mechanism.

10. A method for using an intelligent litchi picking and sorting machine, using the intelligent litchi picking and sorting machine as claimed in claims 1 to 9, characterized in that: The following steps are involved: S10: The intelligent sorting and picking litchi sorting machine moves to the litchi tree to be picked through the walking mechanism; S20: The picking camera processes the image through an image processing algorithm and extracts and identifies litchi features; The sorting camera processes the image through an image processing algorithm and extracts and identifies the features of the litchi connecting the branches; S30: The picking mechanism moves the electric mechanical claw through the manipulator, and during the movement, with the help of the picking camera to identify the characteristics of the litchi, the electric mechanical claw is moved to the position adjacent to the litchi and grabs the litchi; the sorting mechanism moves the shearing device through the manipulator, and during the movement, with the help of the sorting camera to identify the characteristics of the branch connected to the litchi, the shearing device is moved to the branch connected to the litchi and shears the branch; S40: After the sorting mechanism cuts the branches connected to the litchi, the picking camera analyzes the size, bad fruit condition, and rotten fruit condition of the litchi held, and then classifies the variety and grade of the litchi, and then places the litchis of different grades in different fruit frames through the robot; S50: When the picking and sorting operations are performed using the picking mechanism and the sorting mechanism, the intelligent litchi sorting machine moves around the tree regularly through the walking mechanism. When the litchis on the litchi tree are picked, the walking mechanism moves to the next litchi tree to continue picking.

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