A grape quality grading and picking device

Abstract

The application discloses a grape quality grading and picking device which comprises a picking mechanism, a mechanical arm mechanism, a mechanical arm positioning device, a collecting device and a chassis system. The application can artificially manufacture a controllable light source black box environment, maximally reduces the influence of light sources in nature on camera scanning, and thus efficiently completes scanning and selective picking of grape fruits. Compared with traditional grape picking devices, the application brings the screening process after picking to before picking, so that grape fruits which are not completely developed continue to grow on the tree, thereby maximally reducing waste of grape quality and improving picking efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a new type of grape quality grading and picking device, mainly used for judging the quality of mature grapes, so as to pick high-quality grape fruits, belonging to the field of agricultural machinery research. BACKGROUND

[0002] The content of compounds in grapes can reflect the quality of mature grapes, and the content of soluble solids, total acid, total phenol, moisture and the like of grapes can be analyzed by a spectral camera, so as to judge whether the quality grade of the grapes meets the picking requirements, and then the high-quality mature grapes are automatically picked down. However, the existing spectral camera is prone to large errors when working in the field due to the limitation of environmental light, which affects the picking result of the grapes.

[0003] Therefore, in order to reduce the error of spectral camera analysis caused by the influence of environmental light, according to the existing technology and market requirements, a new type of grape quality grading and picking device needs to be designed. SUMMARY

[0004] In order to overcome the deficiencies and shortcomings in the prior art, the purpose of the present application is to provide a new type of grape quality grading and picking device, which can artificially create a controllable light source black box environment in various complex agricultural environments, so as to facilitate the analysis of the content of compounds in grapes by the spectral camera, and then the suitable fruits are picked by the linkage of the mechanical arm mechanism and various mechanical structures.

[0005] The technical scheme adopted by the present application to solve its technical problems is a new type of grape quality grading and picking device, comprising a picking mechanism 1, a mechanical arm mechanism 2, a mechanical arm positioning device 3, a collecting device 4 and a chassis system 5. The picking mechanism 1 is installed on the mechanical arm mechanism 2, the mechanical arm mechanism 2 is installed on the mechanical arm positioning device 3, the mechanical arm positioning device 3 is installed on the chassis system 5, and the collecting device 4 is installed on the mechanical arm mechanism 2.

[0006] The picking mechanism 1 described above is composed of a cutter system 1.1, a picker support 1.2, a screw rod seat 1.3, a synchronous belt 1.4, a cold light source 1.5, a 20-step motor seat 1.6, a hinge 1.7, a screw rod step motor 1.8, a cutter screw rod 1.9, a light shielding strip 1.10, a picker cover 1.11, a light lever 1.12, an electric push rod 1.13, a spectral camera 1.14 and a gear set 1.15.

[0007] The cutter system 1.1 described above is composed of a cutter 1.1.1, a cutter seat 1.1.2, an N20 reduction motor 1.1.3, a gear set 1.1.4, a screw rod 1.1.5, a cutter seat positioner 1.1.6, an N20 reduction motor seat 1.1.7 and a positioning block 1.1.8.

[0008] The mechanical arm mechanism 2 described above is composed of an upper rotating mechanism 2.1, an upper telescopic mechanism 2.2, an upper fine adjustment mechanism 2.3, a small arm 2.4, an elbow joint 2.5, a telescopic large arm 2.6, a shoulder joint 2.7, and a connecting bracket 2.8.

[0009] The mechanical arm positioning device 3 described above is composed of a gear system 3.1, a gear seat 3.2, a lead screw 3.3, a square light rod 3.4, a sliding block 3.5, a 40-step motor 3.6, a positioning block 3.7, a 40-step motor seat 3.8, and a bottom plate 3.9.

[0010] The grape quality grading and picking device described above can adjust the relative position of the picking mechanism and the grape by changing the position of the mechanical arm mechanism 2.

[0011] The grape quality grading and picking device described above can create a man-made black box environment by the picking mechanism, use a constant light source to supplement light for the grape, analyze the grape spectrum image by the spectrum camera, predict the content of the compound in the grape, and then infer the maturity quality, and finally pick the high-quality fruits that meet the conditions.

[0012] The working principle of the grape quality grading and picking device of the present application is as follows:

[0013] The chassis system drives the mechanical arm system and the picking mechanism to move to the appropriate position, and the camera carried thereon is used to position the grape fruits, and then the picking mechanism is transported to the appropriate position through the adjustment of the joints of the mechanical arm mechanism. Under the pushing of the electric push rod, the picking cover covers the whole grape fruit, and the lead screw is driven by the stepping motor, and then the positioning block in the cutter system is pushed, the stem of the grape fruit is positioned, and the position of the whole fruit is determined. Then the cold light source in the picking mechanism is started, the whole environment light source is determined, and the spectrum camera is started, the spectrum data of the grape fruit is scanned, the compound content value range corresponding to the quality of the grape fruit in the database is compared, and the mature grape with excellent quality is selected. Then the cutter installed above the picking mechanism is driven by the speed reducer to cut the stem of the grape, and after the cutting is completed, the picked grape is placed in the lower collecting device under the driving of the mechanical arm mechanism, and a complete picking process is completed. Then, the above actions are repeated to scan and pick the next fruit.

[0014] The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0016] Figure 2 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0017] Figure 3 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0018] Figure 4 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0019] Figure 5 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0020] Figure 6 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0021] Figure 7 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved.

[0022] Figure 8 The grape quality grading and picking device has the advantages that a controllable light source black box environment can be artificially manufactured, the influence of natural light sources on camera scanning is minimized, and the scanning and selective picking of grape fruits are efficiently completed; compared with traditional grape picking devices, the screening process after picking is moved to before picking, and underdeveloped grape fruits continue to grow on the tree, so that the waste of grape quality is minimized, and the picking efficiency is improved. DETAILED DESCRIPTION

[0023] The following will be described in conjunction with the accompanying drawings Figures 1-8 The present invention will be further described.

[0024] A grape quality grading and picking device, comprising a picking mechanism 1, a mechanical arm mechanism 2, a mechanical arm positioning device 3, a collecting device 4, and a chassis system 5. The cutting and picking mechanism 1 comprises a cutting knife system 1.1, a picker support 1.2, a screw rod seat 1.3, a synchronous belt 1.4, a cold light source 1.5, a 20-step motor seat 1.6, a hinge 1.7, a screw rod step motor 1.8, a cutting knife screw rod 1.9, a light shielding strip 1.10, a picker cover 1.11, a light lever 1.12, an electric push rod 1.13, a spectral camera 1.14, and a gear set 1.15. The cutting knife system 1.1 comprises a cutting knife 1.1.1, a cutting knife seat 1.1.2, an N20 speed reducer motor 1.1.3, a gear set 1.1.4, a screw rod 1.1.5, a cutting knife seat positioner 1.1.6, an N20 speed reducer motor seat 1.1.7, and a positioning block 1.1.8. The mechanical arm mechanism 2 comprises an upper rotating mechanism 2.1, an upper telescopic mechanism 2.2, an upper fine adjustment mechanism 2.3, a small arm 2.4, an elbow joint 2.5, a telescopic large arm 2.6, a shoulder joint 2.7, and a connecting support 2.8. The mechanical arm positioning device 3 comprises a gear system 3.1, a gear seat 3.2, a screw rod 3.3, a square light lever 3.4, a sliding block 3.5, a 40-step motor 3.6, a positioning block 3.7, a 40-step motor seat 3.8, and a bottom plate 3.9. The picking mechanism 1 is installed on the mechanical arm mechanism 2, the mechanical arm mechanism 2 is installed on the mechanical arm positioning device 3, the mechanical arm positioning device 3 is installed on the chassis system 5, and the collecting device 4 is installed on the mechanical arm mechanism 2. The screw rod seat 1.3 is fixed on the picker cover 1.11 by screws. The 20-step motor seat 1.6 is fixed on the picker cover 1.11 by screws. The cold light source 1.5 is installed on the picker support 1.2 through the hole. The spectral camera 1.14 is installed on the picker support 1.2. The electric push rod 1.13 is installed on the picker cover 1.11 and the picker support 1.2 by screws. The cutting knife screw rod 1.9 and the light lever 1.12 are fixed on the screw rod seat 1.3 by bearings and screws. The cutting knife seat 1.1.2, the cutting knife seat positioner 1.1.6, and the positioning block 1.1.8 are rigidly connected as a unified whole. The N20 speed reducer motor 1.1.3 is fixed on the N20 speed reducer motor seat 1.1.7 by screws. The N20 speed reducer motor seat 1.1.7 is fixed on the cutting knife seat 1.1.2 by screws.

[0025] The cutting knife system 1.1, the screw rod seat 1.3, the synchronous belt 1.4, the 20-step motor seat 1.6, the hinge 1.7, the screw rod step motor 1.8, the cutting knife screw rod 1.9, the light shielding strip 1.10, the picker cover 1.11, the light lever 1.12, the electric push rod 1.13, and the gear set 1.15 are two sets of symmetrical distribution along the picker support 1.2.

[0026] The light-shielding strip 1.10 is adhered to the picker cover 1.11 by glue.

[0027] The cold light source 1.5 is symmetrically distributed on the picker support 1.2.

[0028] The cold light source 1.5 is arranged around the lens of the spectral camera 1.14, and is fixed on the picker support 1.2. The spectral camera 1.14 is fixed on the picker support 1.2. The picker cover 1.11 is hingedly arranged on the picker support 1.2. When the picker cover 1.11 is closed, the cold light source 1.5 and the lens of the spectral camera 1.14 are wrapped in the picker cover 1.11, so that a dark space is formed.

Claims

1. A grape quality grading and harvesting device, comprising a harvesting mechanism (1), a robotic arm mechanism (2), a robotic arm positioning device (3), a collecting device (4), and a chassis system (5), characterized in that: The harvesting mechanism 1 comprises a cutting system (1.1), a harvester bracket (1.2), a lead screw seat (1.3), a synchronous belt (1.4), a cold light source (1.5), a 20 stepper motor seat (1.6), a hinge (1.7), a lead screw stepper motor (1.8), a cutting lead screw (1.9), a light-shielding strip (1.10), a harvester cover (1.11), a light bar (1.12), an electric push rod (1.13), a spectral camera (1.14), and a gear set (1.15). The cutting system (1.1) comprises a cutter (1.1.1), a cutter seat (1.1.2), an N20 geared motor (1.1.3), a gear set (1.1.4), a screw (1.1.5), a cutter seat positioner (1.1.6), and an N20 geared motor. The mechanical arm mechanism (2) consists of an upper rotating mechanism (2.1), an upper telescopic mechanism (2.2), an upper fine-tuning mechanism (2.3), a forearm (2.4), an elbow joint (2.5), a telescopic upper arm (2.6), a shoulder joint (2.7), and a connecting bracket (2.8). The mechanical arm positioning device (3) consists of a gear system (3.1), a gear seat (3.2), a lead screw (3.3), a square optical bar (3.4), a slider (3.5), a 40 stepper motor (3.6), a positioning block (3.7), a 40 stepper motor seat (3.8), and a base plate (3.9). The picking mechanism (1) is installed on the mechanical arm mechanism (2). The robotic arm (2) is mounted on the robotic arm positioning device (3), which is mounted on the chassis system (5). The collecting device (4) is mounted on the robotic arm mechanism (2). The lead screw seat (1.3) is fixed to the harvester cover (1.11) with screws. The 20 stepper motor seat (1.6) is fixed to the harvester cover (1.11) with screws. The cold light source (1.5) is mounted to the pre-drilled hole in the harvester bracket (1.2) with screws. The spectral camera (1.14) is mounted on the harvester bracket. The electric push rod (1.13) is mounted on the harvester cover (1.11) and the harvester bracket (1.2) with screws. The cutting lead screw (1.9) and the optical bar (1.12) are connected by bearings and... The screw is fixed to the lead screw seat (1.3). The cutter seat (1.1.2), cutter seat positioner (1.1.6), and positioning block (1.1.8) are a rigidly connected unified whole. The N20 geared motor (1.1.3) is fixed to the N20 geared motor seat (1.1.7) with screws. The N20 geared motor seat (1.1.7) is fixed to the cutter seat (1.1.2) with screws. The cutter system (1.1), lead screw seat (1.3), synchronous belt (1.4), 20 stepper motor seat (1.6), hinge (1.7), lead screw stepper motor (1.8), cutter lead screw (1.9), light shield (1.10), harvester cover (1.11), light bar (1.12), and electric push rod (1.13) The gear sets (1.15) are two sets symmetrically distributed along the picker bracket (1.2); under the push of the electric push rod (1.13), the picker cover (1.11) of the picking mechanism (1) covers the entire grape fruit, and the screw stepper motor (1.8) drives the cutter screw (1.9) through the synchronous belt (1.4), which in turn pushes the positioning block (1.1.8) in the cutter system (1.1). By positioning the stem of the grape fruit, the position of the entire fruit is determined. Then the cold light source (1.5) in the picking mechanism (1) is activated to determine the ambient light source. At the same time, the spectral camera (1.14) is turned on to scan the spectral data of the grape fruit. By comparing the compound content range corresponding to various qualities of grape fruit in the database, high-quality mature grapes are selected and then installed. The cutter (1.1.1) mounted above the harvesting mechanism, driven by the N20 geared motor (1.1.3), gear set (1.1.4), and screw (1.1.5), cuts the grape stems. The light-blocking strip (1.10) is glued to the harvester cover (1.11). Four cold light sources (1.5) are symmetrically distributed on the harvester bracket (1.2). The cold light sources (1.5) are positioned around the lens of the spectrophotometer camera (1.14) and fixed to the harvester bracket (1.2). The spectrophotometer camera (1.14) is fixed to the harvester bracket (1.2). The harvester cover (1.11) is hinged to the harvester bracket (1.2). When the harvester cover (1.11) is closed, it encloses the cold light sources (1.5) and the lens of the spectrophotometer camera (1.14), creating a dark space.

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