An apple picking robot based on image recognition

Abstract

The present invention relates to an apple picking robot, which relates to the technical field of agricultural picking. It includes a picking robot body, and a microprocessor is arranged on one side of the upper surface of the picking robot body. The apple picking robot based on image recognition of the present invention, through the arranged image acquisition mechanism, flipping component and light shielding component, when the image acquisition device scans an apple, the three-stage telescopic rod performs telescopic work to drive the horizontal plate, the first mirror surface and the second mirror surface to displace, assisting the image acquisition device to perform all-round acquisition work of the apple. When the flipping plate is on both sides of the apple, the sensor body scans the apple to drive the motor body to rotate, assisting the second mirror surface and the flipping plate to flip. At the same time as the three-stage telescopic rod performs telescopic work, the sunshade cloth is driven to unfold to block the sunlight on both sides for the image acquisition device, assisting the image acquisition device to collect the apple, achieving the purpose that the image acquisition device can collect the apple all-round.

Description

Technical Field

[0001] The present invention relates to an apple picking robot, and particularly to an apple picking robot based on image recognition. Background Art

[0002] As a major apple-producing country, a large amount of manpower is required for apple picking every year in our country. However, when picking apples manually, it is not only time-consuming and laborious, but also there may be a risk of falling when picking apples at high places. At the same time, the angle needs to be changed irregularly to pick all the apples at the top.

[0003] Now, generally in apple orchards, to avoid waste of a large amount of manpower and save costs, apple picking robots are used for picking work. The picking and collection functions are integrated inside the robot, greatly saving manpower and improving efficiency.

[0004] However, when the existing apple picking robots are working, generally, an image acquisition and recognition device first recognizes the color on the surface of the apple to confirm its maturity, and then realizes picking and collection. However, for the current picking robots, although a precise image recognition module is set, since each time of picking, only one side of the apple is irradiated for color recognition, the recognition area is limited, and the complete maturity situation of the apple cannot be accurately known. For example, if the irradiated side is green and most of the back side is red, an apple with 80% redness has reached the maturity for picking, but after recognition, it is not picked, which will affect the picking efficiency and cause subsequent mature apples to rot without being transferred and sold in time. Summary of the Invention

[0005] The purpose of the present invention is to provide an apple picking robot based on image recognition to solve the problem in the above background art that the image recognition installed on the existing picking robot can only recognize one side of the apple, which is prone to situations such as missed picking and premature picking.

[0006] To achieve the above object, the present invention provides the following technical solution: An apple picking robot based on image recognition, including a picking robot body. On one side of the upper surface of the picking robot body, a microprocessor is provided. On the other side of the upper surface of the picking robot body, a robotic arm is provided. The robotic arm is connected to the microprocessor. In the middle of the top of the robotic arm, a support frame is provided. The support frame is connected to the robotic arm. On the surface of the support frame, an image acquisition mechanism is provided. The image acquisition mechanism includes a flipping component, a light shielding component, and an image acquisition device provided in the middle of the front surface of the support frame. A horizontal plate is inserted into the interior of the support frame. At the bottom of the horizontal plate, a vertical plate is fixedly connected. On the surface of the vertical plate, a first mirror is fixedly connected. The light shielding component includes a three-stage telescopic rod fixed to the back of the horizontal plate. On the surface of the end of the three-stage telescopic rod, a fixed ring is fixedly connected. On one side of the fixed ring, a connecting rod is fixedly connected. At the end of the connecting rod away from the fixed ring, a movable ring is fixedly connected. At the bottom of the movable ring, a sunshade cloth is connected. The flipping component includes a rotating shaft fixedly connected to the upper surface of the horizontal plate. At the top of the rotating shaft, a motor body is provided. On the surface of the rotating shaft, a rotating rod is fixedly connected. At the end of the rotating rod away from the rotating shaft, a connecting shaft is fixedly connected. On one side of the surface of the horizontal plate, an annular groove is opened. At the bottom of the horizontal plate, a flipping plate is provided. The flipping plate is below the annular groove. On the surface of the flipping plate, a second mirror is fixedly connected. On one side of the surface of the flipping plate, a sensor body is provided. The sensor body and the motor body are interconnected with each other.

[0007] As a preferred technical solution of the present invention, an extension column is inserted into the interior of the movable ring. At the top of the extension column, a sliding frame is fixedly connected. On one side of the sliding frame close to the three-stage telescopic rod, an auxiliary hole is opened. The connecting rod can contract and extend the movable ring through the auxiliary hole.

[0008] Through the above technical solution, while the three-stage telescopic rod pushes out the horizontal plate, it can drive the fixed ring, the connecting rod, and the movable ring to pull out the sunshade cloth. The pulling out of the sunshade cloth helps the image capture of the image acquisition device not to be affected by external light.

[0009] As a preferred technical solution of the present invention, a convex block is provided on one side of the flipping plate. The sensor body is provided on the surface of the convex block. The bottom of the connecting shaft is connected to the top of the convex block.

[0010] Through the above technical solution, when the sensor body is in use, it senses whether there is an apple on one side of the vertical plate. After the sensor body on the surface of the flipping plate moves to the side of the apple, the motor body on the upper surface of the horizontal plate is started by the sensor body. The start of the motor body drives the rotation of the rotating shaft, the rotating rod and the connecting shaft. The rotation of the connecting shaft drives the flipping plate connected to it to flip. The flipping of the flipping plate drives the angle of the sensor body to change. When the flipping plate is completely flipped, the sensor body can no longer sense the position of the apple, and at this time the motor body stops working.

[0011] As a preferred technical solution of the present invention, a collection pipeline is provided on one side of the bottom of the picking robot body. The bottom of the collection pipeline is fixedly connected with a wrapping ring. The bottom of the wrapping ring is fixedly connected with a first collection box. A transportation mechanism is inserted into the interior of the collection pipeline. The transportation mechanism includes a shock-absorbing component, a cleaning component and a transmission rod inserted into the sensor body. The shock-absorbing component includes a fixed hose fixedly connected to the inner wall of the collection pipeline. The end of the fixed hose away from the collection pipeline is fixedly connected with a fixed frame. A buffer cloth is fixedly connected to the upper surface of the fixed frame. A movable rope is fixedly connected to one side of the upper surface of the fixed frame away from the fixed hose. The end of the movable rope away from the fixed frame is fixedly connected with a main rope. The end of the main rope is fixedly connected with a baffle. A meshing block is inserted and penetrated through the outer surface of the main rope. One side of the meshing block is meshed and connected with a rotating gear. The side of the rotating gear away from the meshing block is meshed and connected with a moving rod. A spring wire is connected to the bottom of the moving rod. The cleaning component includes a transmission rod connected to the bottom of the moving rod away from the spring wire. A clamping plate is fixedly connected to the upper surface of the transmission rod. A first transmission pipe is movably connected to one side of the transmission rod surface away from the clamping plate. The end of the first transmission pipe away from the transmission rod is movably connected with a vertical slider. A second transmission pipe is movably connected to the top of the vertical slider on the surface of the first transmission pipe. The end of the second transmission pipe away from the vertical slider is movably connected with a scraper. Both sides of the scraper are slidably connected with sliding frames.

[0012] Through the above technical solution, when the apple falls, it first contacts the buffer cloth. Then, due to the instability of the movable rope on one side of the buffer cloth, the apple will slide downward on the surface of the buffer cloth toward the side of the movable rope. At this time, the moving rod caused by the gravity of the apple will be under the buffer cloth to catch the apple. At the same time, the ejection of the moving rod will drive the first transmission pipe to eject. The movement of the first transmission pipe drives the vertical slider slidably connected to the inner surface of the collection pipeline to move upward. The movement of the vertical slider drives the second transmission pipe to eject. The second transmission pipe pushes the scraper forward under the limitation of the sliding frame, thereby pushing the branches on the surface of the buffer cloth down.

[0013] As a preferred technical solution of the present invention, the horizontal part of the front half of the main rope is inserted into the inner wall of the horizontal part of the collection pipe, the horizontal part of the rear half of the main rope is inserted into the interior of the transmission rod, the meshing block is located inside the spring wire, and an opening is provided on the inner side wall of the spring wire.

[0014] Through the above technical solution, the gravity of the apple falling on the surface of the buffer cloth is transmitted through the movable rope to pull the main rope. Since the main rope forms a right angle between the inner wall of the collection pipe and the inner wall of the transmission rod, the force of the movable rope pulling the main rope is converted into the force of the main rope pulling the baffle.

[0015] As a preferred technical solution of the present invention, a movable ball is provided at the connection part between the first transfer pipe and the transmission rod, a movable ball is provided at the connection part between the second transfer pipe and the scraper, and a sliding connection is provided between the vertical slider and the inner wall of the vertical part of the collection pipe.

[0016] Through the above technical solution, the baffle is pulled and moves in the direction of the meshing block, driving the meshing block to move backward. There is a cooperation between a stop block above the meshing block and the inner wall of the transmission rod. At this time, the movement of the meshing block drives the rotation of the rotating gear, and the rotating gear drives the moving rod engaged with it to move forward. The movement of the moving rod is transmitted to the transmission rod through the clamping plate, drives the vertical slider to move upward through the first transfer pipe, and drives the scraper to clean the foreign matters on the surface of the buffer cloth through the upward movement of the vertical slider.

[0017] As a preferred technical solution of the present invention, a second collection box is inserted at the end of the transmission rod away from the collection pipe. A connecting column is fixedly connected to the top of the second collection box. An adaptive space structure is provided inside the second collection box. The adaptive space structure includes a conveyor belt provided on the inner side wall of the second collection box. A parking plate is fixedly connected to the surface of the conveyor belt. A rotating clamping shaft is engaged inside the conveyor belt. A winding column is connected to the surface of the rotating clamping shaft. A first incomplete gear is connected to the surface of the winding column. A second incomplete gear is connected to the surface of the rotating clamping shaft away from the winding column. A load-bearing block is connected to the surface of the winding column through a winding rope. An arc-shaped pressure plate is connected to one side of the second incomplete gear.

[0018] Through the above technical solution, when the apple enters the interior of the second collection box through the transfer rod, it first contacts the arc-shaped pressure plate. Since the arc-shaped pressure plate is provided with a curvature, the apple will roll onto the surface of the parking plate. When one apple is not enough to drive the conveyor belt to rotate, the subsequent apples can be waited to fall. Since the gravity of the arc-shaped pressure plate is slightly less than the reaction force of the sum of the gravity of the top recovery spring and the load-bearing block, not too many apples are needed to drive the conveyor belt to rotate. Then, the second incomplete gear and the first incomplete gear rotate half a circle to drive the arc-shaped pressure plate to move until the apple is transported to the bottom of the second collection box. The arc-shaped pressure plate rises under the action of the return spring, and the conveyor belt returns to its original position under the drive of the load-bearing block.

[0019] As a preferred technical solution of the present invention, multiple groups of the conveyor belts are provided according to the length difference between the parking plate and the arc-shaped pressure plate, and the distance between the parking plates is less than the diameter of the apple itself.

[0020] Through the above technical solution, multiple groups of conveyor belts are provided and the distance between two groups of parking plates will not be greater than the diameter of the apple, ensuring that the total length of multiple groups of parking plates is equivalent to the width of the arc-shaped pressure plate, preventing the apple from directly sliding to the bottom of the second collection box.

[0021] As a preferred technical solution of the present invention, the second incomplete gear is fixedly connected to the inner wall of the second collection box, and one side of both the second incomplete gear and the first incomplete gear is connected to the arc-shaped pressure plate through a meshing plate.

[0022] Through the above technical solution, the above connection relationship ensures the normal operation of the conveyor belt without displacement.

[0023] As a preferred technical solution of the present invention, a return spring is connected to the top of the arc-shaped pressure plate, and the weight of the load-bearing block and the tension of the return spring are slightly greater than the weight of the arc-shaped pressure plate.

[0024] Through the above technical solution, since the gravity of the arc-shaped pressure plate rotates the rotating card shaft counterclockwise, and the tension of the return spring at the top of the arc-shaped pressure plate and the load-bearing block on the winding column both pull the rotating card shaft clockwise, the weight of the apple needs to cooperate with the weight of the arc-shaped pressure plate itself to be greater than the gravity of the load-bearing block and the tension of the return spring in order to transport the apple to the bottom of the second collection box.

[0025] Compared with the prior art, the beneficial effects of the present invention are:

[0026] Through the provided image acquisition mechanism, flipping component, and light-blocking component, when the image acquisition device scans an apple, the three-stage telescopic rod extends and retracts to drive the horizontal plate, first mirror, and second mirror to displace, assisting the image acquisition device in performing all-round acquisition of the apple. When the flipping plate is on both sides of the apple, when the sensor body scans the apple, it drives the motor body to rotate, assisting the second mirror and the flipping plate to flip. While the three-stage telescopic rod extends and retracts, it drives the sunshade cloth to unfold, blocking the sunlight on both sides for the image acquisition device, and assisting the image acquisition device to collect the apple, achieving the purpose that the image acquisition device can perform all-round acquisition of the apple.

[0027] Through the provided transportation mechanism, shock-absorbing component, and cleaning component, during use, the buffer cloth provides a shock-absorbing effect for the picked apples. The gravity of the apples drives the cleaning component to sweep the foreign objects brought down on the surface of the buffer cloth, achieving the purpose of protecting the apples from being bumped when they fall.

[0028] Through the provided adaptive space structure, when an apple is transported to the inside of the second collection box during use, the weight of the apple itself plus the weight of the arc-shaped pressure plate will drive the conveyor belt to move. When it moves to the bottom of the second collection box, the second incomplete gear and the meshing plate are no longer meshed. The return spring on the top of the arc-shaped pressure plate assists the arc-shaped pressure plate to reset, and the arc-shaped pressure plate no longer blocks the apple, enabling the apple to fall into the second collection box, achieving the purpose of avoiding the apples from being bumped during the process of collecting apples. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0030] Figure 2 is of the present invention Figure 1 an enlarged structural schematic diagram of part A in;

[0031] Figure 3 is a rear-view structural schematic diagram of the horizontal plate of the present invention;

[0032] Figure 4 is a structural schematic diagram of the horizontal plate of the present invention

[0033] Figure 5 is a structural schematic diagram of the collection pipeline of the present invention

[0034] Figure 6 is a structural schematic diagram of the inside of the collection pipeline of the present invention

[0035] Figure 7 is a structural schematic diagram of the transmission rod of the present invention

[0036] Figure 8 is a sectional structural schematic diagram of the second collection box of the present invention.

[0037] In the figure: 1. Picking robot body; 2. Microprocessor; 3. Manipulator arm; 4. Support frame; 5. Image acquisition device; 6. Horizontal plate; 7. Vertical plate; 8. First mirror; 9. Three-stage telescopic rod; 10. Fixed ring; 11. Connecting rod; 12. Movable ring; 13. Sunshade cloth; 14. Rotating shaft; 15. Motor body; 16. Rotating rod; 17. Connecting shaft; 18. Annular groove; 19. Flipping plate; 20. Second mirror; 21. Sensor body; 22. Collection pipe; 23. Wrapping ring; 24. First collection box; 25. Transmission rod; 26. Fixed hose; 27. Fixed frame; 28. Buffer cloth; 29. Movable rope; 30. Main rope; 31. Baffle; 32. Engaging block; 33. Rotating gear; 34. Moving rod; 35. Spring wire; 36. Transmission rod; 37. Clamping plate; 38. First transfer pipe; 39. Vertical slider; 40. Second transfer pipe; 41. Scraper; 42. Sliding frame; 43. Second collection box; 44. Connecting column; 45. Conveyor belt; 46. Parking plate; 47. Rotating clamping shaft; 48. Winding column; 49. First incomplete gear; 50. Second incomplete gear; 51. Load-bearing block; 52. Arc-shaped pressure plate. Embodiment

[0038] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] Please refer to Figure 1-8 , the present invention provides a technical solution for an apple picking robot based on image recognition:

[0040] According to Figure 1 , Figure 2 and Figure 3 , Figure 4As shown in the figure, an apple picking robot based on image recognition includes a picking robot body 1. On one side of the upper surface of the picking robot body 1, a microprocessor 2 is provided. On the other side of the upper surface of the picking robot body 1, a robotic arm 3 is provided. The robotic arm 3 is connected to the microprocessor 2. In the middle of the top of the robotic arm 3, a support frame 4 is provided. The support frame 4 is connected to the robotic arm 3. On the surface of the support frame 4, an image acquisition mechanism is provided. The image acquisition mechanism includes an image acquisition device 5 provided in the middle of the front surface of the support frame 4, a turning assembly, a light shielding assembly. A cross plate 6 is inserted into the inside of the support frame 4. At the bottom of the cross plate 6, a vertical plate 7 is fixedly connected. On the surface of the vertical plate 7, a first mirror 8 is fixedly connected. The light shielding assembly includes a three-stage telescopic rod 9 fixed to the back of the cross plate 6. On the surface of the end of the three-stage telescopic rod 9, a fixing ring 10 is fixedly connected. On one side of the fixing ring 10, a connecting rod 11 is fixedly connected. At the end of the connecting rod 11 away from the fixing ring 10, a movable ring 12 is fixedly connected. At the bottom of the movable ring 12, a sunshade cloth 13 is connected. The turning assembly includes a rotating shaft 14 fixedly connected to the upper surface of the cross plate 6 by a fixed axis. At the top of the rotating shaft 14, a motor body 15 is provided. On the surface of the rotating shaft 14, a rotating rod 16 is fixedly connected. At the end of the rotating rod 16 away from the rotating shaft 14, a connecting shaft 17 is fixedly connected. On one side of the surface of the cross plate 6, an annular groove 18 is opened. At the bottom of the cross plate 6, a turning plate 19 is provided. The turning plate 19 is below the annular groove 18. On the surface of the turning plate 19, a second mirror 20 is fixedly connected. On one side of the surface of the turning plate 19, a sensor body 21 is provided. The sensor body 21 is interconnected with the motor body 15.

[0041] Compared with the prior art, the advantages of the present invention are as follows. When the image acquisition device 5 captures an apple, it transmits the image to the microprocessor 2. Then, the microprocessor 2 controls the three-stage telescopic rod 9 to start. At this time, the three-stage telescopic rod 9 drives the sunshade cloth 13 and the cross plate 6 to move through the connecting rod 11 and the movable ring 12. When the vertical plate 7 moves to both sides of the apple, the sunshade cloth 13 completely blocks both sides from the image acquisition device 5 to the apple. The sensor body 21 senses whether there is an apple on one side of the vertical plate 7. When the moving position on the surface of the turning plate 19 reaches the apple, the sensor body 21 starts the motor body 15 on the upper surface of the cross plate 6. The start of the motor body 15 drives the rotating shaft 14, the rotating rod 16 and the connecting shaft 17 to rotate. The rotation of the connecting shaft 17 drives the turning plate 19 connected thereto to turn. The turning of the turning plate 19 drives the angle of the sensor body 21 to change. When the turning plate 19 is completely turned, the sensor body 21 can no longer sense the position of the apple. At this time, the motor body 15 stops working. At this time, the turned turning plate 19 provides a view behind the apple for the image acquisition device 5, facilitating the image acquisition device 5 to transmit all-round data of the apple to the microprocessor 2. When the color of the apple does not meet the standard, the robotic arm 3 will not start.

[0042] According to Figure 5 、Figure 6 and Figure 7 , on one side of the bottom of the picking robot body 1, a collecting pipe 22 extends. At the bottom of the collecting pipe 22, a wrapping ring 23 is fixedly connected. At the bottom of the wrapping ring 23, a first collecting box 24 is fixedly connected. Inside the collecting pipe 22, a transporting mechanism is inserted. The transporting mechanism includes a shock-absorbing component, a cleaning component, and a transmission rod 25 inserted inside the inductor body 21. The shock-absorbing component includes a fixed hose 26 fixedly connected to the inner wall of the collecting pipe 22. The end of the fixed hose 26 away from the collecting pipe 22 is fixedly connected to a fixed frame 27. On the upper surface of the fixed frame 27, a buffer cloth 28 is fixedly connected. On one side of the upper surface of the fixed frame 27 away from the fixed hose 26, a movable rope 29 is fixedly connected. The end of the movable rope 29 away from the fixed frame 27 is fixedly connected to a main rope 30. The end of the main rope 30 is fixedly connected to a baffle 31. The outer surface of the main rope 30 is inserted and penetrated by an engaging block 32. On one side of the engaging block 32, a rotating gear 33 is meshed. On the side of the rotating gear 33 away from the engaging block 32, a moving rod 34 is meshed. At the bottom of the moving rod 34, a spring wire 35 is connected. The cleaning component includes a transmission rod 36 connected to the bottom of the moving rod 34 away from the spring wire 35. On the upper surface of the transmission rod 36, a clamping plate 37 is fixedly connected. On the side of the surface of the transmission rod 36 away from the clamping plate 37, a first transmission pipe 38 is movably connected. The end of the first transmission pipe 38 away from the transmission rod 36 is movably connected to a vertical slider 39. On the surface of the vertical slider 39 at the top of the first transmission pipe 38, a second transmission pipe 40 is movably connected. The end of the second transmission pipe 40 away from the vertical slider 39 is movably connected to a scraper 41. On both sides of the scraper 41, sliding frames 42 are slidably connected.

[0043] Compared with the prior art, the advantages of the present invention are as follows. When the apple is picked and falls, it first contacts the buffer cloth 28. Then, due to the instability of the movable rope 29 on one side of the buffer cloth 28, the apple will slide on the surface of the buffer cloth 28 towards the side of the movable rope 29, and at the same time, the main rope 30 is pulled. The main rope 30 pulls the baffle 31 to move backward. The baffle 31 is pulled towards the direction of the engaging block 32, driving the engaging block 32 to move backward. There is a stop block between the engaging block 32 and the inner wall of the transmission rod 25, which cooperate with each other. At this time, the movement of the engaging block 32 drives the rotating gear 33 to rotate. The rotating gear 33 drives the moving rod 34 meshed with it to move forward. At this time, due to the gravity of the apple, the moving rod 34 will be under the buffer cloth 28 to catch the apple. At the same time, the ejection of the moving rod 34 will drive the first transmission pipe 38 to eject. The movement of the first transmission pipe 38 drives the vertical slider 39 slidably connected to the inner surface of the collecting pipe 22 to move upward. The movement of the vertical slider 39 drives the second transmission pipe 40 to eject. The second transmission pipe 40 pushes the scraper 41 forward under the limitation of the sliding frame 42, pushing the branches on the surface of the buffer cloth 28 down.

[0044] According toFigure 5 and Figure 8 , a second collection box 43 is inserted at the end of the transmission rod 25 away from the collection pipe 22. A connecting column 44 is fixedly connected to the top of the second collection box 43. An adaptive space structure is arranged inside the second collection box 43. The adaptive space structure includes a conveyor belt 45 arranged on the inner side wall of the second collection box 43. A parking plate 46 is fixedly connected to the surface of the conveyor belt 45. A rotating clamping shaft 47 is engaged inside the conveyor belt 45. A winding column 48 is connected to the surface of the rotating clamping shaft 47. A first incomplete gear 49 is connected to the surface of the winding column 48. A second incomplete gear 50 is connected to the surface of the rotating clamping shaft 47 away from the winding column 48. A load-bearing block 51 is connected to the surface of the winding column 48 through a winding rope. An arc-shaped pressure plate 52 is connected to one side of the second incomplete gear 50.

[0045] Compared with the prior art, the advantages of the present invention are as follows. When an apple enters the inside of the second collection box 43 through the transmission rod 25, it first contacts the arc-shaped pressure plate 52. Because the arc-shaped pressure plate 52 is provided with a curvature, the apple will roll onto the surface of the parking plate 46. When one apple is not enough to drive the conveyor belt 45 to rotate, apples that fall later can be waited for. Because the gravity of the arc-shaped pressure plate 52 is slightly less than the reaction force of the sum of the gravity of the top return spring and the load-bearing block 51, not too many apples are needed to drive the conveyor belt 45 to rotate. Then, the second incomplete gear 50 and the first incomplete gear 49 rotate half a week to drive the arc-shaped pressure plate 52 to move until the apple is conveyed to the bottom of the second collection box 43. Then, the arc-shaped pressure plate 52 rises under the action of the return spring, and the conveyor belt 45 returns to its original position under the drive of the load-bearing block 51.

[0046] When in specific use, an apple picking robot based on image recognition according to the present invention, during use, the device uses an image acquisition device 5, and the image acquisition device 5 can be a camera. First, it performs image acquisition on the apple. After capturing the apple, the image acquisition device 5 will transmit the captured image to the microprocessor 2. Then, the microprocessor 2 activates the three-stage telescopic rod 9 inside the support frame 4 to perform telescopic work. The three-stage telescopic rod 9 extends horizontally until the apple is completely wrapped. At this time, the sensor body 21 will sense external objects. After sensing the apple, it assists the auxiliary turning plate 19 to turn. The turning of the turning plate 19 presents the view behind the apple to the image acquisition device 5. Then, the image acquisition device 5 transmits the image to the microprocessor 2. The microprocessor 2 controls the robotic arm 3 to pick the apple according to the color maturity of the apple. After picking, the apple enters the inside of the collection pipeline 22. First, it contacts the buffer cloth 28, and under the action of gravity, it drives the scraper 41 to scrape off foreign matters on the surface of the buffer cloth 28. Then, the apple rolls onto the surface of the moving rod 34 and is transported into the inside of the second collection box 43 under the action of the spring wire 35. The gravity of the apple itself plus the gravity of the arc-shaped pressure plate 52 drives the conveyor belt 45 to rotate. Since the second incomplete gear 50 and the first incomplete gear 49 are incomplete gears, when the apple is transported to the bottom of the second collection box 43, the arc-shaped pressure plate 52 no longer blocks the apple under the action of the top return spring, so that the apple can safely fall into the inside of the second collection box 43.

[0047] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. An apple picking robot based on image recognition, comprising a picking robot body (1), characterized in that: On one side of the upper surface of the picking robot body (1), a microprocessor (2) is provided. On the other side of the upper surface of the picking robot body (1), a robotic arm (3) is provided. The robotic arm (3) is connected to the microprocessor (2). In the middle of the top of the robotic arm (3), a support frame (4) is provided. The support frame (4) is connected to the robotic arm (3). On the surface of the support frame (4), an image acquisition mechanism is provided. The image acquisition mechanism includes a flipping component, a light shielding component, and an image acquisition device (5) arranged in the middle of the front surface of the support frame (4). A horizontal plate (6) is inserted into the interior of the support frame (4). At the bottom of the horizontal plate (6), a vertical plate (7) is fixedly connected. On the surface of the vertical plate (7), a first mirror (8) is fixedly connected. The light shielding component includes a three-stage telescopic rod (9) fixed to the back of the horizontal plate (6). On the surface of the end of the three-stage telescopic rod (9), a fixed ring (10) is fixedly connected. On one side of the fixed ring (10), a connecting rod (11) is fixedly connected. At the end of the connecting rod (11) away from the fixed ring (10), a movable ring (12) is fixedly connected. At the bottom of the movable ring (12), a sunshade cloth (13) is connected. The flipping component includes a rotating shaft (14) fixedly connected by a fixed axis on the upper surface of the horizontal plate (6). At the top of the rotating shaft (14), a motor body (15) is provided. On the surface of the rotating shaft (14), a rotating rod (16) is fixedly connected. At the end of the rotating rod (16) away from the rotating shaft (14), a connecting shaft (17) is fixedly connected. On one side of the surface of the horizontal plate (6), an annular groove (18) is opened. At the bottom of the horizontal plate (6), a flipping plate (19) is provided. The flipping plate (19) is located below the annular groove (18). On the surface of the flipping plate (19), a second mirror (20) is fixedly connected. On one side of the surface of the flipping plate (19), a sensor body (21) is provided. The sensor body (21) is interconnected with the motor body (15).

2. The apple picking robot based on image recognition according to claim 1, wherein: An extension column is inserted into the interior of the movable ring (12). At the top of the extension column, a sliding frame is fixedly connected. On one side of the sliding frame close to the three-stage telescopic rod (9), an auxiliary hole is opened. The connecting rod (11) can contract and extend the movable ring (12) through the auxiliary hole.

3. The apple picking robot based on image recognition according to claim 1, wherein: On one side of the flipping plate (19), a convex block is provided. The sensor body (21) is arranged on the surface of the convex block. The bottom of the connecting shaft (17) is connected to the top of the convex block.

4. The apple picking robot based on image recognition according to claim 1, characterized in that: One side of the bottom of the picking robot body (1) is provided with a collection pipeline (22). The bottom of the collection pipeline (22) is fixedly connected with a wrapping ring (23). The bottom of the wrapping ring (23) is fixedly connected with a first collection box (24). A transportation mechanism is inserted into the collection pipeline (22). The transportation mechanism includes a shock absorption component, a cleaning component, and a transmission rod (25) inserted into the sensor body (21). The shock absorption component includes a fixed hose (26) fixedly connected to the inner wall of the collection pipeline (22). The end of the fixed hose (26) away from the collection pipeline (22) is fixedly connected with a fixed frame (27). The upper surface of the fixed frame (27) is fixedly connected with a buffer cloth (28). One side of the upper surface of the fixed frame (27) away from the fixed hose (26) is fixedly connected with a movable rope (29). The end of the movable rope (29) away from the fixed frame (27) is fixedly connected with a main rope (30). The end of the main rope (30) is fixedly connected with a baffle (31). The outer surface of the main rope (30) is inserted and penetrated by a meshing block (32). One side of the meshing block (32) is meshed and connected with a rotating gear (33). The side of the rotating gear (33) away from the meshing block (32) is meshed and connected with a moving rod (34). The bottom of the moving rod (34) is connected with a spring wire (35). The cleaning component includes a transmission rod (36) connected to the bottom of the moving rod (34) away from the spring wire (35). The upper surface of the transmission rod (36) is fixedly connected with a clamping plate (37). One side of the surface of the transmission rod (36) away from the clamping plate (37) is movably connected with a first transmission pipe (38). The end of the first transmission pipe (38) away from the transmission rod (36) is movably connected with a vertical slider (39). The surface of the vertical slider (39) is movably connected with a second transmission pipe (40) at the top of the first transmission pipe (38). The end of the second transmission pipe (40) away from the vertical slider (39) is movably connected with a scraper (41). Both sides of the scraper (41) are slidably connected with a sliding frame (42).

5. The apple picking robot based on image recognition according to claim 4, wherein: The horizontal part of the front half of the main rope (30) is inserted into the inner wall of the horizontal part of the collection pipeline (22). The horizontal part of the rear half of the main rope (30) is inserted into the transmission rod (25). The meshing block (32) is inside the spring wire (35). The inner side wall of the spring wire (35) is provided with an opening.

6. The apple picking robot based on image recognition according to claim 4, characterized in that: An activity ball is arranged at the connection part of the first transmission pipe (38) and the transmission rod (36). An activity ball is arranged at the connection part of the second transmission pipe (40) and the scraper (41). The vertical slider (39) is slidably connected with the inner wall of the vertical part of the collection pipeline (22).

7. The apple picking robot based on image recognition according to claim 4, characterized in that: A second collection box (43) is inserted into the end of the transmission rod (25) far from the collection pipeline (22). A connecting column (44) is fixedly connected to the top of the second collection box (43). An adaptive space structure is arranged inside the second collection box (43). The adaptive space structure includes a conveyor belt (45) arranged on the inner side wall of the second collection box (43). A parking plate (46) is fixedly connected to the surface of the conveyor belt (45). A rotating clamping shaft (47) is engaged inside the conveyor belt (45). A winding column (48) is connected to the surface of the rotating clamping shaft (47). A first incomplete gear (49) is connected to the surface of the winding column (48). A second incomplete gear (50) is connected to the surface of the rotating clamping shaft (47) far from the winding column (48). A load-bearing block (51) is connected to the surface of the winding column (48) through a winding rope. An arc-shaped pressure plate (52) is connected to one side of the second incomplete gear (50).

8. The apple picking robot based on image recognition according to claim 7, characterized in that: Multiple groups of the conveyor belts (45) are arranged according to the length difference between the parking plates (46) and the arc-shaped pressure plate (52). The distance between the parking plates (46) is smaller than the diameter of the apple itself.

9. The apple picking robot based on image recognition according to claim 7, wherein: The second incomplete gear (50) is fixedly connected to the inner wall of the second collection box (43) by a fixed shaft. One sides of the second incomplete gear (50) and the first incomplete gear (49) are both connected to the arc-shaped pressure plate (52) through a meshing plate.

10. The apple picking robot based on image recognition according to claim 7, characterized in that: A return spring is connected to the top of the arc-shaped pressure plate (52). The weight of the load-bearing block (51) and the tension of the return spring are slightly greater than the weight of the arc-shaped pressure plate (52).

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