Grape harvesting and leaf righting device

Abstract

The application discloses a grape picking and leaf blade righting device and relates to the technical field of agricultural automation equipment. The device comprises a power trolley, an extension mechanism, a picking mechanism and a central processing unit. Track walking wheels are arranged on the two sides of the power trolley, and a placing rack is fixedly connected to the top of the power trolley. The extension mechanism is arranged on the top of the placing rack. The extension mechanism comprises two guide rails and a cylinder. The two guide rails are symmetrically arranged on the two sides of the top of the placing rack, and the cylinder is fixedly arranged on the middle of the top of the placing rack. The upper end of the cylinder is connected with a first image recognition device for preliminary identification and positioning of grape clusters. The picking mechanism is fixedly connected to the end of the extension mechanism. The picking mechanism comprises two mechanical arms. The two mechanical arms are connected with a second image recognition device and an extension picking clamp. For the area blocked by the vine, one mechanical arm right the leaf blade, and the extension picking clamp at the end of the other mechanical arm is extended to pick the grape clusters. The application realizes the automation and precision of grape picking and greatly reduces the damage to the fruit.

Description

Technical Field

[0001] This invention relates to the field of agricultural automation equipment technology, and in particular to a grape harvesting and leaf straightening device. Background Technology

[0002] Ningxia, as my country's largest contiguous wine grape producing area and the region with the highest output of winery wines, has seen its wine industry become a source of wealth for its people. To date, it has constructed approximately 195 kilometers of wine grape planting corridors and transformed over 400,000 mu of barren land into "new oases." However, with its long-term rapid development, grapes, as the most widely used fruit in the wine industry, face severe challenges in terms of harvesting timeliness. Currently, most vineyards in my country still rely on manual harvesting. Manual harvesting is not only inefficient and unable to meet the harvesting needs of large-scale vineyards, but it is also prone to damaging leaves and fruits due to improper handling, affecting grape quality.

[0003] Currently, there is no technology that can simultaneously solve the problems of grape harvesting relying on manual labor, low efficiency, and low picking accuracy and easy damage to the fruit caused by leaf obstruction. Summary of the Invention

[0004] The purpose of this invention is to provide a grape harvesting and leaf straightening device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A grape harvesting and leaf straightening device includes a power trolley, a telescopic mechanism, a picking mechanism, and a central processing unit; the power trolley, telescopic mechanism, and picking mechanism are all electrically connected to the central processing unit; wherein... The powered trolley has tracked wheels on both sides and a fixed placement frame above it. A telescopic mechanism is installed above the placement frame. The telescopic mechanism includes a cylinder and guide rails. Two guide rails are symmetrically arranged on either side of the placement frame. The cylinder is fixedly located in the center of the placement frame. A first image recognition device is connected to the upper end of the cylinder. Based on the first image recognition device, the position, maturity, and stem coordinates of the grape bunches are initially identified, and the identification information is transmitted to the central processing unit. The central processing unit controls the extension direction and length of the cylinder. Position the grape bunches to the desired harvesting location; the harvesting mechanism is fixedly connected to the crossbeam, and the crossbeam is fixedly connected to the guide rail and the end of the cylinder; wherein, the harvesting mechanism includes two robotic arms, the two robotic arms adopt a multi-degree-of-freedom joint structure, and the ends of the robotic arms are fixedly connected to a second image recognition device and a telescopic harvesting clamp. Based on the second image device, the grape bunches are re-identified. For areas with vines covering the grape bunches, the two robotic arms work together. One robotic arm is used to straighten the leaves, and the telescopic harvesting clamp at the end of the other robotic arm extends to complete the harvesting command of the grape bunches.

[0006] Preferably, the placement rack is welded from a steel structure and has sufficient load-bearing strength.

[0007] Preferably, the cylinder is a multi-stage telescopic cylinder, which can achieve telescopic adjustment over a long distance to meet the harvesting needs of grape bunches of different heights.

[0008] Furthermore, the guide rail includes an outer sleeve, an inner sleeve, rollers, and a guide rail fixing block; wherein, the diameter of the outer sleeve is larger than the diameter of the inner sleeve, and both are long rectangular structures, the outer sleeve is sleeved on the outside of the inner sleeve, rollers are provided at the left and right ends of the inner sleeve, and the inner sleeve moves outward along the direction of the outer sleeve by means of the cylinder driving and the rollers sliding together.

[0009] Furthermore, the guide rail also includes baffles and brackets. The inner sleeve has four rollers at each of its left and right ends. Each roller is fixed to both sides by two brackets. The opening at the left end of the inner sleeve is fixed in an "I" shape by three baffles. The "I" shape has two rollers fixed in a longitudinally symmetrical manner by brackets inside and two rollers fixed in a transversely symmetrical manner outside. The right side of the inner sleeve has rollers on each of its four sides around a long rectangle, and each roller is fixed to the outer sleeve by a bracket.

[0010] Preferably, the rollers are made of wear-resistant material, which can reduce the sliding friction between the inner sleeve and the outer sleeve, improve the smoothness of operation and service life of the telescopic mechanism, and the "I" shaped structure and multi-roller layout can ensure the stability of the inner sleeve during telescopic movement and avoid deviation or jamming.

[0011] Furthermore, the two outer sleeves of the two guide rails are respectively fixed to the placement frame by the guide rail fixing blocks.

[0012] Furthermore, the tracked traveling wheels include an annular track, large traveling wheels, and small traveling wheels; wherein; the large traveling wheels are symmetrically arranged front and rear, and there are two large traveling wheels on one side, for a total of four on both sides; the small traveling wheels are symmetrically arranged vertically, and there are twelve small traveling wheels on one side, for a total of twenty-four on both sides; both the large traveling wheels and the small traveling wheels are hinged to the inner side of the annular track and respectively hinged to both sides of the power vehicle.

[0013] Furthermore, the telescopic picking clamp places the picked grape bunches into the grape collecting device.

[0014] Furthermore, the power trolley serves as the foundation for the entire device's load-bearing and movement. It is equipped with a power motor, which provides the overall power source and can adjust the walking speed and torque to adapt to different terrains.

[0015] Furthermore, the central processing unit is an S7-1500 controller.

[0016] The advantages of this invention compared to existing technologies are as follows: by using two multi-degree-of-freedom robotic arms to work together, a specially designed leaf straightening function can be used to specifically solve the problem of blind spots in harvesting caused by leaf shading. No manual assistance is required for cleaning. The straightening harvesting method will not damage the leaves and grape bunches, thus balancing harvesting efficiency and plant growth protection. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is an overall front view of the invention; Figure 3 This is an overall attached view of the present invention; Figure 4 This is a schematic diagram showing the connection between the placement rack and the telescopic mechanism of the present invention; Figure 5 This is a schematic diagram of the guide rail bursting open according to the present invention; Figure 6 This is a schematic diagram of the central processing unit's identification and picking control in this invention; As shown in the figure: 1. Power trolley; 2. Telescopic mechanism; 2.1. Cylinder; 2.1.1. First image recognition device; 2.2. Guide rail; 2.2.1. Outer sleeve; 2.2.2. Inner sleeve; 2.2.3. Roller; 2.2.4. Guide rail fixing block; 2.2.5. Baffle; 2.2.6. Bracket; 3. Harvesting mechanism; 3.1. Second image recognition device; 3.2. Telescopic harvesting claw; 4. Tracked wheels; 4.1. Circular track; 4.2. Large wheel; 4.3 Small wheel; 5. Crossbeam; 6. Placement rack; 7. Central processing unit; 8. Grape collecting device. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] To better understand the overall technical solution of the grape harvesting and leaf straightening device according to the embodiments of the present invention, the grape harvesting and leaf straightening device provided in the embodiments of the present invention will be specifically described below with reference to the accompanying drawings.

[0020] See attached document Figure 1-6 As shown, a grape harvesting and leaf straightening device includes a power trolley 1, a telescopic mechanism 2, a picking mechanism 3, and a central processing unit 7; the power trolley 1, the telescopic mechanism 2, and the picking mechanism 3 are all electrically connected to the central processing unit 7; wherein, The power trolley 1 is equipped with tracked wheels 4 on both sides, and a mounting frame 6 is fixedly connected above it. A telescopic mechanism 2 is installed above the mounting frame 6. The telescopic mechanism 2 includes a cylinder 2.1 and a guide rail 2.2. Two guide rails 2.2 are symmetrically arranged on both sides above the placement rack 6. A cylinder 2.1 is fixedly mounted above the center of the placement rack 6. The upper end of the cylinder 2.1 is connected to a first image recognition device 2.1.1. Based on the first image recognition device 2.1.1, the position, maturity, and stem coordinates of the grape bunch are initially identified, and the identification information is transmitted to the central processing unit 7. The central processing unit 7 controls the extension direction and length of the cylinder 2.1 and positions it to the desired harvesting location. The harvesting mechanism 3 is fixedly connected to the crossbeam 5. The crossbeam 5 is fixedly connected to the guide rail 2.2 and the end of the cylinder 2.1; wherein, the picking mechanism 3 includes two robotic arms, the two robotic arms adopt a multi-degree-of-freedom joint structure, and the ends of the robotic arms are fixedly connected to a second image recognition device 3.1 and a telescopic picking clamp 3.2. Based on the second image device 3.1, the grape bunches are identified for a second time. For areas where vines are obstructing the view, the two robotic arms work together. One robotic arm is used to straighten the leaves, and the telescopic picking clamp 3.2 at the end of the other robotic arm extends to complete the picking instruction of the grape bunches.

[0021] The placement rack 6 is made of welded steel structure and has sufficient load-bearing strength.

[0022] The cylinder 2.1 is a multi-stage telescopic cylinder, which can achieve telescopic adjustment over a long distance to meet the harvesting needs of grape bunches of different heights.

[0023] like Figure 3 and Figure 4 As shown, the guide rail 2.2 includes an outer sleeve 2.2.1, an inner sleeve 2.2.2, rollers 2.2.3, and a guide rail fixing block 2.2.4; wherein, the diameter of the outer sleeve 2.2.1 is larger than the diameter of the inner sleeve 2.2.2, and both are long rectangular structures. The outer sleeve 2.2.1 is sleeved on the outside of the inner sleeve 2.2.2. Rollers 2.2.3 are provided at both ends of the inner sleeve 2.2.2. The inner sleeve 2.2.2 is driven by the cylinder 2.1 and slides along the direction of the outer sleeve 2.2.1 in cooperation with the rollers 2.2.3.

[0024] The guide rail 2.2 also includes baffles 2.2.5 and brackets 2.2.6. The inner sleeve 2.2.2 has four rollers 2.2.3 at its left and right ends respectively. Each roller 2.2.3 is fixed on both sides by two brackets 2.2.6. The opening at the left end of the inner sleeve 2.2.2 is fixed in an "I" shape by three baffles 2.2.5. The "I" shape has two rollers 2.2.3 fixed longitudinally symmetrically inside by brackets 2.2.6, and two rollers 2.2.3 are fixed laterally symmetrically outside by brackets 2.2.6. The inner sleeve 2.2.2 has rollers 2.2.3 on each of its four sides around the elongated rectangle, and each roller 2.2.3 is fixed to the outer sleeve 2.2.1 by brackets 2.2.6.

[0025] The rollers 2.2.3 are made of wear-resistant material, which can reduce the sliding friction between the inner sleeve 2.2.2 and the outer sleeve 2.2.1, improve the smoothness of operation and service life of the telescopic mechanism 2. The "I" shaped structure and the layout of multiple rollers 2.2.3 can ensure the stability of the inner sleeve 2.2.2 during telescopic movement and avoid deviation or jamming.

[0026] The two outer sleeves 2.2.1 of the two guide rails 2.2 are respectively fixed to the placement frame 6 by the guide rail fixing blocks 2.2.4.

[0027] The tracked traveling wheels 4 include an annular track 4.1, large traveling wheels 4.2, and small traveling wheels 4.3; wherein, the large traveling wheels 4.2 are symmetrically arranged front and rear, and there are two large traveling wheels 4.2 on each side, for a total of four on both sides; the small traveling wheels 4.3 are symmetrically arranged vertically, and there are twelve small traveling wheels 4.3 on each side, for a total of twenty-four on both sides. Both the large traveling wheels 4.2 and the small traveling wheels 4.3 are hinged to the inner side of the annular track 4.1 and respectively hinged to both sides of the power vehicle 1.

[0028] The telescopic picking clip 3.2 places the picked grape bunches into the grape collecting device 8 (not shown in the figure).

[0029] The power trolley 1 serves as the foundation for the entire device's load-bearing and movement. It is equipped with a power motor, which provides power to the whole system and can adjust the walking speed and torque to adapt to different terrains.

[0030] The central processing unit 7 is an S7-1500 controller.

[0031] The device's workflow is as follows: The operator starts the device via a remote control terminal. The motor drives the tracked wheels 4, moving the device along the grape planting row. The first image recognition device 2.1.1 collects real-time images of the grapevines ahead, initially identifying the location, maturity, and stem coordinates of mature grape bunches, and transmits this information to the central processing unit 7. After processing, the central processing unit 7 controls the extension and retraction of the cylinder 2.1 and the sliding of the inner sleeve 2.2.2 of the guide rail 2.2, moving the extension mechanism 2 and the harvesting mechanism 3 to the harvesting position. The second image recognition device 3.1 performs secondary recognition to confirm leaf obstruction. If obstruction is present, one robotic arm straightens the leaves, while the other robotic arm drives the extension harvesting clamp 3.2 to grasp and cut the stem, completing the harvest. The harvested grape bunches are placed in the grape collecting device 8 (not shown in the figure), completing one harvesting cycle. The device automatically moves to the next grapevine and repeats the above process, achieving a cyclical harvesting process.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A grape harvesting and leaf straightening device, characterized in that: It includes a power trolley (1), a telescopic mechanism (2), a picking mechanism (3) and a central processing unit (7), wherein the power trolley (1), the telescopic mechanism (2) and the picking mechanism (3) are all electrically connected to the central processing unit (7); The power trolley (1) is provided with tracked wheels (4) on both sides and a fixedly connected placement frame (6) on the top. A telescopic mechanism (2) is provided on the top of the placement frame (6). The telescopic mechanism (2) includes a cylinder (2.1) and a guide rail (2.2). There are two guide rails (2.2), which are symmetrically arranged on both sides above the placement rack (6). The cylinder (2.1) is fixedly arranged in the middle of the upper part of the placement rack (6). The upper end of the cylinder (2.1) is connected to a first image recognition device (2.1.1). Based on the first image recognition device (2.1.1), the position, maturity and fruit stem coordinates of the grape bunch are initially identified, and the identification information is transmitted to the central processing unit (7). The central processing unit (7) controls the extension direction and length of the cylinder (2.1) and positions it to the position to be picked. The harvesting mechanism (3) is fixedly connected to the crossbeam (5), and the crossbeam (5) is fixedly connected to the guide rail (2.2) and the end of the cylinder (2.1); wherein, The picking mechanism (2) includes two robotic arms. The two robotic arms adopt a multi-degree-of-freedom joint structure, and the ends of the robotic arms are respectively fixedly connected to a second image recognition device (3.1) and a telescopic picking clamp (3.2). Based on the second image recognition device (3.1), the grape bunches are identified for the second time. For areas covered by vines, the two robotic arms work together. One robotic arm is used to straighten the leaves, and the telescopic picking clamp (3.2) at the end of the other robotic arm extends to complete the picking instruction for the grape bunches.

2. The grape harvesting and leaf straightening device according to claim 1, characterized in that, The cylinder (2.1) is a multi-stage telescopic cylinder.

3. The grape harvesting and leaf straightening device according to claim 1, characterized in that, The guide rail (2.2) includes an outer sleeve (2.2.1), an inner sleeve (2.2.2), rollers (2.2.3), and a guide rail fixing block (2.2.4). The outer sleeve (2.2.1) has a larger diameter than the inner sleeve (2.2.2), and both are long rectangular structures. The outer sleeve (2.2.1) is fitted over the outer side of the inner sleeve (2.2.2). Rollers (2.2.3) are provided at both ends of the inner sleeve (2.2.2). The inner sleeve (2.2.2) is driven by the cylinder (2.1) and moves outward along the direction of the outer sleeve (2.2.1) in cooperation with the rollers (2.2.3).

4. A grape harvesting and leaf straightening device according to claim 3, characterized in that, The guide rail (2.2) also includes a baffle (2.2.5) and a bracket (2.2.6). The inner sleeve (2.2.2) is provided with four rollers (2.2.3) at its left and right ends respectively. Each roller (2.2.3) is fixed on both sides by two brackets (2.2.6). The opening at the left end of the inner sleeve (2.2.2) is fixed in an "I" shape by three baffles (2.2.5). The "I" shape has two rollers (2.2.3) fixed longitudinally symmetrically inside by brackets (2.2.6), and two rollers (2.2.3) fixed laterally symmetrically outside by brackets (2.2.6). The inner sleeve (2.2.2) has rollers (2.2.3) on each of its four sides around the long rectangle, and each roller (2.2.3) is fixed to the outer sleeve (2.2.1) by a bracket (2.2.6).

5. A grape harvesting and leaf straightening device according to claim 3, characterized in that, The outer sleeve (2.2.1) is fixedly mounted to the placement rack (6) via the guide rail fixing block (2.2.4).

6. A grape harvesting leaf straightening device according to claim 1, characterized in that, The tracked wheels (4) include an annular track (4.1), large wheels (4.2), and small wheels (4.3); wherein, the large wheels (4.2) are symmetrically arranged front and back, with two on each side and four on both sides; the small wheels (4.3) are symmetrically arranged vertically, with twelve on each side and twenty-four on both sides; both the large wheels (4.2) and the small wheels (4.3) are hinged to the inner side of the annular track (4.1) and respectively hinged to both sides of the power vehicle (1).

7. A grape harvesting and leaf straightening device according to claim 1, characterized in that, The telescopic picking clip (3.2) places the picked grape bunches into the grape collecting device (8).

8. A grape harvesting and leaf straightening device according to claim 1, characterized in that, The power trolley (1) serves as the foundation for the entire device to carry and move. It is equipped with a power motor, which provides the power source for the whole device.

9. A grape harvesting and leaf straightening device according to claim 1, characterized in that, The central processing unit (7) is an S7-1500 controller.

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