A collection device and picking method based on the natural growth of pineapples

Abstract

The invention discloses a collection device based on the natural growth of pineapples and a picking method thereof. The collection device based on the natural growth of pineapples comprises a fruit transport mechanism, a posture adjustment mechanism, a picking mechanism and a controller. The collection device based on the natural growth of pineapples utilizes the posture adjustment mechanism under the control of the controller to drive the picking mechanism to move and adjust the posture of the picking mechanism in view of the growth phenomenon that the weight of the fruit causes the pineapple stem to tilt slightly during the natural growth of the pineapple, combined with the shape characteristics of the pineapple, the connection characteristics between the pineapple and the pineapple stem, and the planting pattern of the pineapple, so that the picking mechanism can stably clamp the pineapple and pick it. The fruit transport mechanism receives the picked fruit and transports the fruit to an agricultural collection vehicle to complete the pineapple picking, thereby solving the problem of picking and collecting pineapples in a large range and greatly reducing the labor intensity and planting cost of fruit farmers.

Description

Technical Field

[0001] The invention relates to a collecting device, in particular to a collecting device based on the natural growth of pineapples and a picking method thereof. Background Art

[0002] With the continuous advancement of the popularization and application of intelligent agricultural machinery and equipment in my country, how to mechanize and intelligently harvest pineapples in large-scale planting facilities has received great attention from domestic research institutes, agricultural colleges and planting enterprises. In view of the unique growth characteristics of pineapples, most of the stem breaking methods are twisting, breaking, cutting, etc., and the problem of collecting pineapples in a large area is solved by using high-ground clearance wheeled agricultural collection vehicles. However, after investigation and analysis, it was found that there is a common problem in the current pineapple picking equipment: due to the constraints of the unstructured growth of pineapples and the functions of mechanized picking equipment, it has not been possible to achieve the picking and collection of pineapple facilities in a large area, resulting in the harvesting efficiency of picking equipment for large-scale pineapple fields is relatively low, and the picking of pineapples is still done manually. Therefore, it is necessary to integrate the appearance characteristics and natural growth of pineapples, the connection characteristics of pineapples and pineapple stems, and the planting pattern of pineapples, and reasonably develop a collection device and a picking method based on the natural growth of pineapples. Summary of the invention

[0003] Purpose of the invention: To provide a collection device and a picking method based on the natural growth of pineapples, which can address the phenomenon that the pineapple stems are slightly tilted due to the weight of the fruit during natural growth, and combine factors such as the appearance characteristics of the pineapple, the connection characteristics between the pineapple and the pineapple stem, and the planting pattern of the pineapple to solve the problem of picking and collecting pineapples over a large range in a natural growth environment, thereby greatly reducing the labor intensity and planting costs of fruit farmers.

[0004] Technical solution: The collection device based on the natural growth of pineapples provided by the present invention includes a fruit transportation mechanism, a posture adjustment mechanism, a picking mechanism and a controller; the fruit transportation mechanism is used to transport the picked pineapples; the posture adjustment mechanism is adjustably installed on the fruit transportation mechanism; the picking mechanism is installed on the posture adjustment mechanism, and the posture adjustment mechanism drives the picking mechanism to a posture convenient for picking, and the picking mechanism adaptively clamps the picked pineapples; the fruit transportation mechanism, the posture adjustment mechanism and the picking mechanism are all driven and controlled by the controller.

[0005] Furthermore, the fruit transport mechanism includes a suspension, a transverse conveying unit and a vertical conveying platform; the transverse conveying unit is installed on the suspension along the length direction and is used to transport pineapples laterally; the vertical conveying platform is movably installed on the suspension and is used to receive pineapples picked by the picking mechanism and transport them to the transverse conveying unit; the transverse conveying unit and the vertical conveying platform are both driven and controlled by a controller.

[0006] Further, the vertical conveying platform includes a U-shaped bracket, two vertical lifting platforms, two lifting telescopic rods and a position adjustment unit;

[0007] The U-shaped bracket is installed on the suspension in a transverse sliding manner, and the position adjustment unit drives the U-shaped bracket to move laterally along the suspension; two vertical lifting platforms are respectively installed on the two vertical brackets of the U-shaped bracket in a vertical sliding manner, and are used to transport the pineapples on the U-shaped bracket to the transverse conveying unit; the two lifting telescopic rods are respectively used to drive the two vertical lifting platforms to move vertically, and the two lifting telescopic rods are electrically connected to the controller; the position adjustment unit is driven and controlled by the controller.

[0008] Furthermore, the posture adjustment mechanism includes a five-rod posture adjustment platform, a binocular vision module and a sliding drive unit; a guide rail group is installed on the suspension along the length direction; the five-rod posture adjustment platform is slidably installed on the guide rail group, and the sliding drive unit is used to drive the five-rod posture adjustment platform to move along the guide rail group; the picking mechanism is installed on the lower end of the five-rod posture adjustment platform, and the posture of the picking mechanism is adjusted by the five-rod posture adjustment platform; the sliding drive unit is driven and controlled by the controller; the binocular vision module is installed on the lower side of the U-shaped bracket and is electrically connected to the controller.

[0009] Furthermore, the five-rod posture adjustment platform includes a moving platform and five fixed-length connecting rods; the guide rail group includes a first guide rail, a second guide rail and a third guide rail; two first supports are slidably installed on the first guide rail; two second supports are slidably installed on the second guide rail; a second support is slidably installed on the third guide rail; the lower ends of the two fixed-length connecting rods are installed on the moving platform through Hooke's hinges, and the upper ends are respectively installed on the two first supports through two Hooke's hinges; the lower ends of the other three fixed-length connecting rods are installed on the moving platform through ball joints, and the upper ends are respectively installed on the three second supports through three ball joints; a hollow shaft is connectedly arranged at the center of the lower side surface of the moving platform; and the picking mechanism is installed on the hollow shaft.

[0010] Furthermore, the sliding drive unit includes five sliding drive motors; the five sliding drive motors respectively drive the two first supports and the three second supports to move laterally through five sets of gear rack pairs, and are all electrically connected to the controller.

[0011] Furthermore, the picking mechanism includes a rotating unit and a clamping unit; the rotating unit includes an L-shaped rotating bracket and a rotating drive motor; the clamping unit includes a U-shaped straw-picking bracket and two sets of clamping branches;

[0012] The L-shaped rotating bracket is installed on the hollow shaft in a through-type rotation; the rotating driving motor drives the L-shaped rotating bracket to rotate through a bevel gear pair and is electrically connected to the controller; the U-shaped straw-pulling bracket is fixed on the L-shaped rotating bracket; and two clamping branches are respectively installed on the upper and lower sides of the U-shaped straw-pulling bracket.

[0013] Further, the clamping branch includes a clamping drive motor, two drive screws, four flexible fingers and four support structures;

[0014] The two driving screws are rotatably mounted on the front and rear opposite sides of the U-shaped straw-pulling bracket, and the thread pitches at both ends of the driving screws are the same and the rotation directions are opposite; the four flexible fingers are mounted in pairs on the front and rear opposite sides of the U-shaped straw-pulling bracket, and the proximal ends of the two flexible fingers on the same side are respectively threadedly screwed on the two ends of the driving screw on the corresponding side; the clamping drive motor synchronously drives the two driving screws to rotate through a synchronous belt transmission, and is electrically connected to a controller; a distance measuring sensor electrically connected to the controller is installed on the U-shaped straw-pulling bracket, and is used to detect the distance between the proximal ends of the two flexible fingers on the same driving screw; the four support structures are used to support the distal ends of the four flexible fingers respectively.

[0015] Furthermore, the supporting structure includes a swing sleeve and a support rod; the support rod is horizontally swing-hinged on the far end of the flexible finger; the swing sleeve is horizontally swing-hinged and installed on the U-shaped straw-pulling bracket, and the support rod is inserted into the swing sleeve in a through-type manner.

[0016] Furthermore, the present invention also provides a picking method of a collection device based on the natural growth of pineapples, comprising the following steps:

[0017] Step 1: Before picking, the collecting device is installed on an agricultural collecting vehicle; the agricultural collecting vehicle drives the collecting device to run above the pineapple field to be picked;

[0018] Step 2: The controller controls the posture adjustment mechanism and the vertical conveyor platform so that the vertical conveyor platform is located in front of the posture adjustment mechanism in the real-time picking direction. The specific implementation steps are as follows:

[0019] A. The controller controls the sliding drive unit to adjust the moving platform of the posture adjustment mechanism to the picking height, so that the vertical conveyor can pass through and reach the front side of the direction to be picked;

[0020] B. The controller controls the binocular vision module to adjust the shooting angles of the two cameras to the direction of the fruit to be picked;

[0021] C. The controller controls the sliding drive unit to lower the moving platform to a height that is convenient for picking the equipment;

[0022] Step 3: The controller controls the vertical conveyor to move, and the binocular vision module obtains the picking posture of the pineapple to be picked that is convenient for the operation. The specific implementation steps are as follows:

[0023] D. The controller controls the vertical conveyor to move forward along the direction of the pineapple to be picked, driving the binocular vision module to capture the pineapple to be picked. When the pineapple to be picked is not picked, the posture adjustment mechanism moves forward together with the vertical conveyor; when the pineapple to be picked is captured, the binocular vision module is used to obtain the image information of the tilted pineapple and send it to the controller;

[0024] E. The controller solves the spatial posture information of the slightly tilted pineapple to be picked according to the image information of the pineapple to be picked, and plans the picking posture information that is convenient for the operation. The picking posture information includes the initial posture a of the picking mechanism, the instantaneous posture b of the clamping, and the diameter of the pineapple at the clamping position;

[0025] F. The controller controls the posture adjustment mechanism to send the picking mechanism to the initial posture a, and the central axis of the moving platform is parallel to the central axis of the pineapple, and the distance is the feeding distance L1;

[0026] Step 4: The controller controls the picking mechanism and the fruit conveyor line to complete the picking and collection of pineapples to be picked in a large range. The specific implementation steps are as follows:

[0027] G. The posture adjustment mechanism adjusts the position of the picking mechanism so that the picking mechanism reaches the instantaneous posture b, and the distance between the initial posture a and the instantaneous posture b is the feeding distance L1;

[0028] H. According to the diameter of the position where the pineapple to be picked will be clamped, the controller uses the position sensor to sense the information and drive the two clamping drive motors to adjust the distance between the two flexible fingers on the same drive screw to a clamping distance L that is convenient for clamping the pineapple. d , so that it can implement differential and reliable clamping of the pineapple to be picked at position e and position f respectively;

[0029] I. The controller controls the rotating unit to rotate, driving the clamping unit to twist off the stalk of the pineapple to be picked;

[0030] J. The controller controls the posture adjustment mechanism to deliver the picked pineapples to the vertical conveying platform. The controller controls the operation of the longitudinal conveyor belt on the vertical conveying platform in real time, and then delivers the picked pineapples to the horizontal conveying unit in turn through the corresponding vertical lifting platform until they are delivered to the storage box of the agricultural collection vehicle.

[0031] Compared with the prior art, the present invention has the following beneficial effects: the posture adjustment mechanism is used under the control of a controller to target the growth phenomenon that the pineapple stem slightly tilts due to the weight of the fruit during natural growth of the pineapple, and factors such as the appearance characteristics of the pineapple, the connection characteristics between the pineapple and the pineapple stem, and the planting pattern of the pineapple are combined to drive the picking mechanism to move and adjust the posture of the picking mechanism, so that the picking mechanism can stably clamp the pineapple and pick it, the fruit transportation mechanism receives the picked fruit and transports the fruit to an agricultural collection vehicle, the pineapple picking is completed, the problem of picking and collecting pineapples in a large range is solved, and the labor intensity and planting cost of fruit farmers are greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a working state diagram of the present invention when the picking direction is I;

[0033] Figure 2 This is a working state diagram of the present invention when the picking direction is II;

[0034] Figure 3 It is a three-dimensional diagram of the fruit transport mechanism of the present invention;

[0035] Figure 4 It is an inverted stereoscopic diagram of the posture adjustment mechanism of the present invention;

[0036] Figure 5 It is a schematic diagram of the installation of the posture adjustment mechanism of the present invention;

[0037] Figure 6 is a three-dimensional diagram of the picking mechanism of the present invention;

[0038] Figure 7 is a three-dimensional diagram of the clamping unit of the present invention;

[0039] Figure 8 It is a schematic diagram of the picking operation process of the present invention;

[0040] Fig. 9 It is a schematic diagram of the circuit structure of the present invention;

[0041] In the figure: 1. Fruit transport mechanism; 11. Horizontal transport unit; 111. Suspension; 112. Horizontal conveyor belt; 114. Baffle; 12. Vertical transport platform; 121. U-shaped bracket; 122. Longitudinal conveyor belt; 123. Vertical lifting platform; 131. Adjustment rack; 132. Slide rail; 2. Posture adjustment mechanism; 21. Guide rail group; 211. First guide rail; 212. Second guide rail; 213. Third guide rail; 22. Five-bar posture adjustment platform; 221. Fixed-length connecting rod; 222. First rotating pair; 226. Motion Platform; 2261, hollow shaft; 23, binocular vision module; 3, picking mechanism; 3100, rotating unit; 3101, L-shaped rotating bracket; 3102, rotating drive motor; 3103, driven bevel gear; 3104, driving bevel gear; 3200, clamping unit; 3201, U-shaped straw-picking bracket; 3202, clamping drive motor; 3203, synchronous belt drive; 3204, driving screw; 3205, flexible finger; 3209, support rod; 3210, swing sleeve; 3211, guide strip. DETAILED DESCRIPTION

[0042] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0043] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the description of the present invention, it should be understood that the terms "left", "right", "front", "back", "up", "down", "top", "bottom", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only simplified descriptions for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0045] Embodiment 1:

[0046] like Figure 1-9As shown, the present invention provides a collection device based on the natural growth of pineapples, comprising: a fruit transport mechanism 1, a posture adjustment mechanism 2, a picking mechanism 3 and a controller; the fruit transport mechanism 1 is used to be installed on an agricultural collection vehicle, and is used to transport picked pineapples; the posture adjustment mechanism 2 is adjustably installed on the fruit transport mechanism 1; the picking mechanism 3 is installed on the posture adjustment mechanism 2, and the posture adjustment mechanism 2 drives the picking mechanism 3 to a posture convenient for picking, and the picking mechanism 3 adaptively clamps the picked pineapples; the fruit transport mechanism 1, the posture adjustment mechanism 2 and the picking mechanism 3 are all driven and controlled by the controller.

[0047] The posture adjustment mechanism 2 is used under the control of the controller to target the phenomenon that the pineapple stem slightly tilts due to the weight of the fruit during its natural growth, and in combination with factors such as the appearance characteristics of the pineapple, the connection characteristics between the pineapple and the pineapple stem, and the planting pattern of the pineapple, the picking mechanism 3 is driven to move and the posture of the picking mechanism 3 is adjusted so that the picking mechanism 3 can stably clamp the pineapple and pick it. The fruit transportation mechanism 1 receives the picked fruits and transports them to an agricultural collection vehicle to complete the pineapple picking, thereby solving the problem of picking and collecting pineapples over a large area and greatly reducing the labor intensity and planting costs of fruit farmers.

[0048] Furthermore, the fruit transport mechanism 1 includes a suspension 111, a lateral transport unit 11 and a vertical transport platform 12; the lateral transport unit 11 includes a lateral transport motor, a lateral transport belt 112 and two lateral transport rollers;

[0049] A transfer slot is provided on the suspension 111 along the length direction; one end of the suspension 111 is used to be installed on one side of the agricultural collection vehicle and is perpendicular to its driving direction, and a baffle 114 is provided on the other end of the suspension 111 for shielding one end of the transfer slot; the vertical conveying platform 12 is movably installed on the suspension 111 in a transverse direction;

[0050] The two transverse transmission rollers are rotatably mounted on the two ends of the transfer trough respectively; the transverse transmission belt 112 is transmission-mounted on the two transverse transmission rollers; the transverse transmission motor is used to drive one of the transverse transmission rollers to rotate, and is electrically connected to the controller through the transverse transmission drive circuit.

[0051] A transverse transmission motor is used to drive one of the transverse transmission rollers to rotate under the control of a controller, so that the transverse transmission belt 112 is operated, and the pineapples on the transverse transmission belt 112 are transported from the vertical conveying platform 12 to an agricultural collection vehicle, so as to realize the transportation of the pineapples after picking; and a baffle 114 is used to prevent the pineapples from rolling down.

[0052] Furthermore, the vertical conveying platform 12 includes a U-shaped bracket 121, two vertical lifting platforms 123, two lifting telescopic rods and a position adjustment unit; the position adjustment unit includes an adjustment rack 131, an adjustment gear and an adjustment drive motor;

[0053] Slide rails 132 are installed along the length direction on the two vertical sides of the suspension 111; a pulley running along the slide rails 132 is arranged on the U-shaped bracket 121; an adjustment rack 131 is installed on the suspension 111 along the length direction; the adjustment gear is rotatably installed on the U-shaped bracket 121 and meshed with the adjustment rack 131; the adjustment drive motor is used to drive the adjustment gear to rotate, and is electrically connected to the controller through the adjustment drive circuit;

[0054] Fruit delivery ports are provided on the upper and lower ends of the two vertical brackets of the U-shaped bracket 121; two longitudinal transmission rollers are installed on the horizontal bracket of the U-shaped bracket 121; the longitudinal transmission belt 122 is transmission-connected to the two longitudinal transmission rollers; the longitudinal transmission motor is used to drive one of the longitudinal transmission rollers to rotate, and is electrically connected to the controller through the longitudinal transmission drive circuit; two vertical lifting platforms 123 are respectively vertically slidably installed on the two vertical brackets of the U-shaped bracket 121; two lifting telescopic rods are respectively used to drive the two vertical lifting platforms 123 to move vertically, and the two lifting telescopic rods are electrically connected to the controller; the upper side surface of the horizontal plate of the vertical lifting platform 123 is set as a slope surface, so that the pineapples on the vertical lifting platform 123 can roll onto the transverse transmission belt 112, or a small conveyor belt carrying pineapples is set on the lower side surface of the vertical lifting platform 123, so as to transport the pineapples to the transverse transmission belt 112.

[0055] The longitudinal transmission motor is used to drive one of the longitudinal transmission rollers to rotate under the control of the controller, and the longitudinal transmission belt 122 is driven to transport the pineapple to the fruit delivery port at the lower end. The pineapple arrives on the vertical transmission platform 12 through the fruit delivery port at the lower end. The lifting and telescopic rod drives the vertical transmission platform 12 to move up to the fruit delivery port at the upper end under the control of the controller. The pineapple arrives on the transverse transmission belt 112 through the fruit delivery port at the upper end, thereby realizing the transmission of the pineapple; the adjustment drive motor is used to drive the adjustment gear to rotate under the control of the controller, and the U-shaped bracket 121 is driven to move along the adjustment rack 131, and cooperates with the posture adjustment mechanism 2, so that the U-shaped bracket 121 is always located in front of the picking mechanism 3 in the picking direction, so that the picking mechanism 3 and the posture adjustment mechanism 2 can place the picked pineapple on the longitudinal transmission belt 122.

[0056] Furthermore, the posture adjustment mechanism 2 includes a five-rod posture adjustment platform 22, a binocular vision module 23 and a sliding drive unit; the binocular vision module 23 includes two cameras; a guide rail group 21 is installed along the length direction on the lower side of the suspension 111; the five-rod posture adjustment platform 22 is slidably installed on the guide rail group 21, and the sliding drive unit is used to drive the five-rod posture adjustment platform 22 to move along the guide rail group 21; the picking mechanism 3 is installed on the lower end of the five-rod posture adjustment platform 22, and the posture of the picking mechanism 3 is adjusted by the five-rod posture adjustment platform 22; the sliding drive unit is driven and controlled by the controller; the two cameras are both installed on the lower side of the U-shaped bracket 121.

[0057] The two cameras adopt existing intelligent cameras, which capture the growth image of the pineapple to be picked under the control of the controller. The controller controls the sliding drive unit to adjust the posture of the five-rod posture adjustment platform 22 so that the picking mechanism 3 can stably clamp the pineapple.

[0058] Further, the five-bar posture adjustment platform 22 includes a moving platform 226 and five fixed-length connecting rods 221; the guide rail group 21 includes a first guide rail 211, a second guide rail 212 and a third guide rail 213; the first guide rail 211, the second guide rail 212 and the third guide rail 213 are sequentially installed horizontally on the lower side of the suspension 111 from front to back; two first supports are slidably installed on the first guide rail 211; two second supports are slidably installed on the second guide rail 212; a second support is slidably installed on the third guide rail 213; two fixed-length connecting rods 22 The lower ends of the three fixed-length connecting rods 221 are all mounted on the moving platform 226 through a Hooke's joint, and the upper ends are respectively mounted on the two first supports through two Hooke's joints; the axes of the first rotating pairs 222 of the two Hooke's joints on the upper side are collinear, and the axes of the first rotating pairs 222 of the two Hooke's joints on the lower side are collinear; the lower ends of the other three fixed-length connecting rods 221 are all mounted on the moving platform 226 through ball joints, and the upper ends are respectively mounted on the three second supports through three ball joints; a hollow shaft 2261 is connected at the center of the lower side surface of the moving platform 226; the picking mechanism 3 is mounted on the hollow shaft 2261.

[0059] By utilizing the installation method of the five fixed-length connecting rods 221, the five fixed-length connecting rods 221 can move freely under the control of the sliding drive unit, thereby adjusting the height, tilt direction and tilt angle of the moving platform 226, and then adjusting the height, tilt direction and tilt angle of the picking mechanism 3, so as to stably clamp the pineapple; by utilizing the method of using the Hook joint and the ball joint in combination, the five-rod attitude adjustment platform 22 has a certain load-bearing capacity while having a high degree of freedom, and has a compact structure and high transmission accuracy; the hollow shaft 2261 is utilized to avoid the leaf crown part of the pineapple, so that the top of the leaf crown is extended into the hollow shaft 2261, to ensure that the picking mechanism 3 can stably clamp the pineapple.

[0060] Furthermore, the sliding drive unit includes three sliding drive racks, five sliding drive motors and five sliding drive gears; the three sliding drive racks are respectively installed on the first guide rail 211, the second guide rail 212 and the third guide rail 213 along the length direction; the five sliding drive gears are respectively rotatably installed on the two first supports and the three second supports, and the five sliding drive gears are respectively meshed with the corresponding sliding drive racks; the five sliding drive motors are respectively used to drive the five sliding drive gears, and are all electrically connected to the controller through the sliding drive circuit. The sliding drive motor is used to drive the sliding drive gears to rotate under the control of the controller, so that the two first supports and the three second supports move respectively along the corresponding sliding drive racks, so that the five fixed-length connecting rods 221 change the height, tilt direction and tilt angle of the moving platform 226 by traction.

[0061] Further, the picking mechanism 3 includes a rotating unit 3100 and a clamping unit 3200; the rotating unit 3100 includes an L-shaped rotating bracket 3101, a rotating driving motor 3102, a driven bevel gear 3103 and an active bevel gear 3104; the clamping unit 3200 includes a U-shaped straw-picking bracket 3201 and two sets of clamping branches;

[0062] The horizontal bracket of the L-shaped rotating bracket 3101 is installed in a through-type rotating manner on the hollow shaft 2261; the driven bevel gear 3103 is fixed on the lower end of the hollow shaft 2261; the rotary drive motor 3102 is installed on the vertical bracket of the L-shaped rotating bracket 3101, and is electrically connected to the controller through the rotary drive circuit; the active bevel gear 3104 is installed on the output shaft of the rotary drive motor 3102, and is meshed with the driven bevel gear 3103; the connecting bracket of the U-shaped straw-pulling bracket 3201 is fixed on the vertical bracket of the L-shaped rotating bracket 3101; and the two clamping branches are respectively installed on the upper and lower sides of the U-shaped straw-pulling bracket 3201.

[0063] The rotary drive motor 3102 is used to drive the active bevel gear 3104 to rotate under the control of the controller, and the L-shaped rotary bracket 3101 is driven to rotate around the hollow shaft 2261, so that the U-shaped straw bracket 3201 is directed toward the pineapple to be picked, which is convenient for the two clamping branches to clamp the pineapple. After clamping, the L-shaped rotary bracket 3101 rotates quickly to twist off the fruit handle to achieve picking.

[0064] Further, the clamping branch includes a clamping drive motor 3202, two drive screws 3204, four flexible fingers 3205 and four support structures;

[0065] Two parallel rectangular holes are arranged transversely on the two parallel brackets of the U-shaped paddy ... A guide block sliding along the corresponding guide strip 3211 is provided on the finger 3205; the clamping drive motor 3202 is installed on the connecting bracket of the U-shaped straw-pulling bracket 3201, and synchronously drives the two drive screws 3204 to rotate through the synchronous belt transmission 3203, and the clamping drive motor 3202 is electrically connected to the controller through the clamping drive circuit; a distance measuring sensor electrically connected to the controller is installed on the U-shaped straw-pulling bracket 3201, which is used to detect the distance between the proximal ends of two flexible fingers 3205 on the same drive screw 3204; the four supporting structures are respectively used to support the distal ends of the four flexible fingers 3205.

[0066] The clamping drive motor 3202 is used to synchronously drive the two driving screws 3204 to rotate through the synchronous belt transmission 3203 under the control of the controller. The thread pitches of the two ends of the driving screw 3204 are the same and the rotation directions are opposite, so that the two flexible fingers 3205 on the same driving screw 3204 move relative to each other. The two groups of clamping branches are respectively located on the upper and lower sides of the U-shaped straw-pulling bracket 3201, the upper clamping branch clamps the pineapple at the position e, and the lower clamping branch clamps the pineapple at the position f, so that the pineapple is clamped at multiple points to improve the clamping stability. The distance measuring sensor is used to detect so that the controller can control the distance of the flexible fingers 3205 according to the size of the pineapple, so that the flexible fingers 3205 can better grip the pineapple.

[0067] Furthermore, the supporting structure includes a swing sleeve 3210 and a support rod 3209; one end of the support rod 3209 is horizontally swing-hinged on the far end of the flexible finger 3205, the swing sleeve 3210 is horizontally swing-mounted on the rectangular hole corresponding to the flexible finger 3205, and the support rod 3209 is through-inserted on the swing sleeve 3210.

[0068] The swing sleeve 3210 and the support rod 3209 are used to support the flexible finger 3205. After the flexible finger 3205 is inflated and bent, the swing sleeve 3210 and the support rod 3209 swing along with it. While not affecting the bending of the flexible finger 3205, it can prevent the flexible finger 3205 from shaking under the influence of the gravity of the pineapple, ensuring that the flexible finger 3205 can return to its original position.

[0069] Furthermore, the present invention also provides a picking method of a collection device based on the natural growth of pineapples, comprising the following steps:

[0070] Step 1: Before picking, the collecting device is installed on an agricultural collecting vehicle; the agricultural collecting vehicle drives the collecting device to run above the pineapple field to be picked;

[0071] Step 2: The controller controls the posture adjustment mechanism 2 and the vertical conveying platform 12 so that the vertical conveying platform 12 is located in front of the posture adjustment mechanism 2 in the real-time picking direction. The specific implementation steps are as follows:

[0072] A. The controller controls the sliding drive unit to adjust the moving platform 226 of the posture adjustment mechanism 2 to the picking height, so that the vertical conveying platform 12 can pass through and reach the front side of the direction to be picked;

[0073] B. The controller controls the binocular vision module 23 to adjust the shooting angles of the two cameras to the direction of the fruits to be picked;

[0074] C. The controller controls the sliding drive unit to lower the moving platform 226 to a height that is convenient for picking the equipment.

[0075] Step 3: The controller controls the vertical conveyor 12 to move, and the binocular vision module 23 obtains the picking posture of the pineapple to be picked that is convenient for the operation. The specific implementation steps are as follows:

[0076] D. The controller controls the vertical conveyor 12 to move forward along the direction to be picked, driving the binocular vision module 23 to capture the pineapple to be picked, and the posture adjustment mechanism 2 moves forward together with the vertical conveyor 12 when the pineapple to be picked is not picked; when the pineapple to be picked is captured, the binocular vision module 23 is used to obtain the image information of the tilted pineapple and send it to the controller;

[0077] E. The controller solves the spatial posture information of the slightly tilted pineapple to be picked according to the image information of the pineapple to be picked, and plans a picking posture that is convenient for implementing the operation, including the initial posture a of the picking mechanism 3, the instantaneous posture b of the clamping, and the diameter of the pineapple at the clamping position;

[0078] F. The controller controls the posture adjustment mechanism 2 to send the picking mechanism 3 to the initial posture a, at which the end surface of the moving platform 226 is perpendicular to the central axis of the pineapple, that is, the central axis of the moving platform 226 is parallel to the central axis of the pineapple, and the distance is the feeding distance L1;

[0079] Step 4: The controller controls the picking mechanism and the fruit conveyor line to complete the picking and collection of pineapples to be picked in a large range. The specific implementation steps are as follows:

[0080] G. The posture adjustment mechanism 2 adjusts the position of the picking mechanism 3 so that the picking mechanism 3 reaches the instantaneous posture b, and the distance between the initial posture a and the instantaneous posture b is the feeding distance L1;

[0081] H. According to the diameter of the position where the pineapple to be picked will be clamped, the controller uses the position sensor to sense information to drive the two clamping drive motors 3202 to adjust the distance between the two flexible fingers 3205 on the same drive screw 3204 to a clamping distance L that is convenient for clamping the pineapple. d , so that it can implement differential and reliable clamping of the pineapple to be picked at position e and position f respectively;

[0082] I. The controller controls the rotating unit 3100 to rotate, driving the clamping unit 3200 to twist off the stalk of the pineapple to be picked;

[0083] J. The controller controls the posture adjustment mechanism 2 to deliver the picked pineapples to the vertical conveying platform 12. The controller controls the operation of the longitudinal conveyor belt 122 on the vertical conveying platform 12 in real time, and then delivers the picked pineapples to the horizontal conveying unit 11 in turn through the corresponding vertical lifting platform 123 until they are delivered to the storage box of the agricultural collection vehicle.

[0084] In the collection device based on the natural growth of pineapples provided by the present invention, the controller adopts the existing ARM control module to realize coordinated control; the horizontal transmission motor, the adjustment drive motor, the longitudinal transmission motor, the sliding drive motor, the rotation drive motor 3102 and the clamping drive motor 3202 all adopt the existing stepping motor; the horizontal transmission drive circuit, the adjustment drive circuit, the longitudinal transmission drive circuit, the sliding drive circuit, the rotation drive circuit and the clamping drive circuit respectively adopt corresponding stepping motor drive circuits; the lifting telescopic rod adopts the existing electric telescopic rod; the camera adopts the existing intelligent camera.

[0085] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A collection device based on the natural growth of pineapples, characterized in that: The invention comprises a fruit transport mechanism (1), a posture adjustment mechanism (2), a picking mechanism (3) and a controller; the fruit transport mechanism (1) is used to transport picked pineapples; the posture adjustment mechanism (2) is adjustably mounted on the fruit transport mechanism (1); the picking mechanism (3) is mounted on the posture adjustment mechanism (2), the posture adjustment mechanism (2) drives the picking mechanism (3) to a posture convenient for picking, and the picking mechanism (3) adaptively clamps and picks the pineapples; the fruit transport mechanism (1), the posture adjustment mechanism (2) and the picking mechanism (3) are all driven and controlled by the controller; The vertical conveying platform (12) comprises a U-shaped bracket (121), two vertical lifting platforms (123), two lifting telescopic rods and a position adjustment unit; the U-shaped bracket (121) is installed on the suspension (111) in a transverse sliding manner, and the position adjustment unit drives the U-shaped bracket (121) to move transversely along the suspension (111); the two vertical lifting platforms (123) are respectively installed on the two vertical brackets of the U-shaped bracket (121) in a vertical sliding manner, and are used to transport the pineapples on the U-shaped bracket (121) to the transverse conveying unit (11); the two lifting telescopic rods are respectively used to drive the two vertical lifting platforms (123) to move vertically, and the two lifting telescopic rods are electrically connected to the controller; the position adjustment unit is driven and controlled by the controller; The posture adjustment mechanism (2) comprises a five-rod posture adjustment platform (22), a binocular vision module (23) and a sliding drive unit; a guide rail group (21) is installed on the suspension (111) along the length direction; the five-rod posture adjustment platform (22) is slidably installed on the guide rail group (21), and the sliding drive unit is used to drive the five-rod posture adjustment platform (22) to move along the guide rail group (21); the picking mechanism (3) is installed on the lower end of the five-rod posture adjustment platform (22), and the posture of the picking mechanism (3) is adjusted by the five-rod posture adjustment platform (22); the sliding drive unit is driven and controlled by a controller; the binocular vision module (23) is installed on the lower side of the U-shaped bracket (121) and is electrically connected to the controller; The five-bar posture adjustment platform (22) comprises a moving platform (226) and five fixed-length connecting rods (221); the guide rail group (21) comprises a first guide rail (211), a second guide rail (212) and a third guide rail (213); two first supports are slidably mounted on the first guide rail (211); two second supports are slidably mounted on the second guide rail (212); and a second support is slidably mounted on the third guide rail (213); the lower ends of the two fixed-length connecting rods (221) are mounted on the moving platform (226) through Hooke's hinges, and the upper ends are respectively mounted on the two first supports through two Hooke's hinges; the lower ends of the other three fixed-length connecting rods (221) are respectively mounted on the moving platform (226) through ball joints, and the upper ends are respectively mounted on the three second supports through three ball joints; a hollow shaft (2261) is connectedly arranged at the center of the lower side surface of the moving platform (226); and the picking mechanism (3) is mounted on the hollow shaft (2261); The picking mechanism (3) comprises a rotating unit (3100) and a clamping unit (3200); the rotating unit (3100) comprises an L-shaped rotating bracket (3101) and a rotating drive motor (3102); the clamping unit (3200) comprises a U-shaped straw-picking bracket (3201) and two groups of clamping branches; the L-shaped rotating bracket (3101) is rotatably mounted on a hollow shaft (2261); the rotating drive motor (3102) drives the L-shaped rotating bracket (3101) to rotate via a bevel gear pair and is electrically connected to a controller; the U-shaped straw-picking bracket (3201) is fixed on the L-shaped rotating bracket (3101); and the two clamping branches are respectively mounted on the upper and lower sides of the U-shaped straw-picking bracket (3201); The clamping branch comprises a clamping drive motor (3202), two drive screws (3204), four flexible fingers (3205) and four supporting structures; the two drive screws (3204) are rotatably mounted on two opposite sides of the U-shaped straw-pushing bracket (3201), and the thread pitches of the two ends of the drive screws (3204) are the same, and the rotation directions are opposite; the four flexible fingers (3205) are respectively mounted on two opposite sides of the U-shaped straw-pushing bracket (3201), and the two flexible fingers (3205) on the same side are The proximal ends are respectively threadedly screwed onto the two ends of the corresponding side driving screw rod (3204); the clamping drive motor (3202) synchronously drives the two driving screw rods (3204) to rotate through the synchronous belt transmission (3203), and is electrically connected to the controller; a distance measuring sensor electrically connected to the controller is installed on the U-shaped straw-pulling bracket (3201) for detecting the distance between the proximal ends of two flexible fingers (3205) on the same driving screw rod (3204); and the four supporting structures are respectively used to support the distal ends of the four flexible fingers (3205).

2. The collection device based on the natural growth of pineapple according to claim 1, characterized in that: The fruit transport mechanism (1) comprises a suspension (111), a transverse transport unit (11) and a vertical transport platform (12); the transverse transport unit (11) is mounted on the suspension (111) along the length direction and is used for transversely transporting pineapples; the vertical transport platform (12) is movably mounted on the suspension (111) and is used for receiving pineapples picked by a picking mechanism (3) and transporting them to the transverse transport unit (11); the transverse transport unit (11) and the vertical transport platform (12) are both driven and controlled by a controller.

3. The collection device based on the natural growth of pineapple according to claim 1, characterized in that: The sliding drive unit comprises five sliding drive motors; the five sliding drive motors respectively drive two first supports and three second supports to move laterally through five sets of gear rack pairs, and are all electrically connected to the controller.

4. The collection device based on the natural growth of pineapple according to claim 1, characterized in that: The supporting structure comprises a swinging sleeve (3210) and a supporting rod (3209); the supporting rod (3209) is horizontally swing-hinged on the far end of the flexible finger (3205); the swinging sleeve (3210) is horizontally swing-hinged and installed on the U-shaped straw-pulling bracket (3201), and the supporting rod (3209) is inserted into the swinging sleeve (3210) in a through-type manner.

5. The picking method of the pineapple harvesting device based on the natural growth of the pineapple according to claim 4, characterized in that: The steps include: Step 1: Before picking, the collecting device is installed on an agricultural collecting vehicle; the agricultural collecting vehicle drives the collecting device to run above the pineapple field to be picked; Step 2: The controller controls the posture adjustment mechanism (2) and the vertical conveying platform (12) so that the vertical conveying platform (12) is located in front of the posture adjustment mechanism (2) in the real-time picking direction. The specific implementation steps are as follows: A. The controller controls the sliding drive unit to adjust the moving platform (226) of the posture adjustment mechanism (2) to a picking height, so as to facilitate the vertical conveying platform (12) to pass through and reach the front side of the direction to be picked; B. The controller controls the binocular vision module (23) to adjust the shooting angles of the two cameras to the direction of the fruits to be picked; C. The controller controls the sliding drive unit to lower the moving platform (226) to a height that is convenient for picking the equipment; Step 3: The controller controls the vertical conveyor platform (12) to move, and the binocular vision module (23) obtains the picking posture of the pineapple to be picked that is convenient for the operation. The specific implementation steps are as follows: D. The controller controls the vertical conveying platform (12) to move forward along the direction of the pineapple to be picked, driving the binocular vision module (23) to capture the pineapple to be picked, and when the pineapple to be picked is not picked, the posture adjustment mechanism (2) moves forward together with the vertical conveying platform (12); when the pineapple to be picked is captured, the binocular vision module (23) is used to obtain image information of the tilted pineapple and send it to the controller; E. The controller calculates the spatial posture information of the slightly tilted pineapple to be picked according to the image information of the pineapple to be picked, and plans the picking posture information that is convenient for the operation to be carried out, wherein the picking posture information includes the initial posture a of the picking mechanism (3), the instantaneous posture b of the clamping, and the diameter of the pineapple at the clamping position; F. The controller controls the posture adjustment mechanism (2) to send the picking mechanism (3) to the initial posture a, and the central axis of the moving platform (226) is parallel to the central axis of the pineapple, and the distance is the feeding distance L1; Step 4: The controller controls the picking mechanism and the fruit conveyor line to complete the picking and collection of pineapples to be picked in a large range. The specific implementation steps are as follows: G. The posture adjustment mechanism (2) adjusts the position of the picking mechanism (3) so that the picking mechanism (3) reaches an instantaneous posture b, and the distance between the initial posture a and the instantaneous posture b is the feeding distance L1; H. According to the diameter of the position where the pineapple to be picked is to be clamped, the controller uses the position sensor to sense information and drives two clamping drive motors (3202) to adjust the distance between the proximal ends of two flexible fingers (3205) on the same drive screw (3204) to a clamping distance L that is convenient for clamping the pineapple. d , so that it can implement differential and reliable clamping of the pineapple to be picked at position e and position f respectively; I. The controller controls the rotating unit (3100) to rotate, driving the clamping unit (3200) to twist off the stalk of the pineapple to be picked; J. The controller controls the posture adjustment mechanism (2) to deliver the picked pineapples to the vertical conveying platform (12). The controller controls the operation of the longitudinal conveyor belt (122) on the vertical conveying platform (12) in real time, and then delivers the picked pineapples to the transverse conveying unit (11) in turn through the corresponding vertical lifting platform (123) until they are delivered to the storage box of the agricultural collection vehicle.

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