A fruit field picking, grading and packaging integrated equipment

Abstract

The application provides a fruit field picking, grading and packaging integrated equipment, and relates to the technical field of fruit harvesting equipment, comprising a walking mechanism, a picking mechanism and a poor fruit storage area and a qualified fruit storage area arranged on the walking mechanism, wherein the walking mechanism has an autonomous walking function, the picking mechanism is arranged on the walking mechanism and has an automatic picking function, a quality identification module is arranged on the picking mechanism, the quality identification module is used for quality detection of picked fruits, and the picking mechanism directly or through a conveying mechanism transmits the fruits into the poor fruit storage area or the qualified fruit storage area according to the quality detection result. The scheme provided by the application can reduce fruit transfer process, reduce fruit damage, improve harvesting efficiency and improve economic benefits.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit harvesting equipment, in particular to a fruit field picking, grading and packaging integrated equipment. BACKGROUND

[0002] Fruits need to go through picking, grading, packaging, transportation and other links from maturity to sale, especially, the fruit grading and packaging at present need to be carried out in a specific and professional factory, which is directly related to the sales effect and benefit of fruits. Although factory grading and packaging are beneficial to accurately determining the quality of fruits, the multiple fruit transfer processes can easily cause many problems such as fruit damage, high transportation cost, large energy consumption and more fruit waste. Especially, the transportation and grading of inferior fruits increase the cost and waste resources.

[0003] Therefore, the field picking, grading and packaging integration is an effective method to solve the above problems. On the one hand, it can help farmers to realize the grading and sale of fruits on the spot during the fruit harvesting period, which is beneficial to improve the economic benefit; on the other hand, by field grading, the fruits with surface defects can be removed to reduce the cross infection between diseased fruits during storage and transportation; at the same time, downstream production enterprises can take targeted storage, processing, sales and other processes according to the field grading results of fruits, thereby increasing the competitiveness of enterprises.

[0004] Compared with industrial grading, field picking and grading of fruits are considered to have more significance in improving economic added value. Field grading of fruits is considered to be one of the technologies with great influence in the whole fruit industry chain, so there is an urgent need for a fruit field picking, grading and packaging integrated equipment. SUMMARY

[0005] The purpose of the present application is to provide a fruit field picking, grading and packaging integrated equipment to solve the problems existing in the prior art, reduce the fruit transfer process, reduce the fruit damage, improve the harvesting efficiency and improve the economic benefit.

[0006] To achieve the above purpose, the present application provides the following scheme:

[0007] The present application provides a fruit field picking, grading and packaging integrated equipment, which comprises a walking mechanism and a picking mechanism. The walking mechanism has an autonomous walking function, and the picking mechanism is arranged on the walking mechanism and has an automatic picking function. The equipment further comprises a poor fruit storage area and a qualified fruit storage area arranged on the walking mechanism, a quality identification module integrated on the picking mechanism, the quality identification module being used for quality detection of the picked fruits, and the picking mechanism directly or through a conveying mechanism transmitting the fruits to the poor fruit storage area or the qualified fruit storage area according to the quality detection result.

[0008] Preferably, the qualified fruit storage area is provided with a good fruit box and a medium fruit box; the picking mechanism directly or through the conveying mechanism transmits the fruits into the good fruit box and the medium fruit box according to the quality detection result.

[0009] Preferably, the end of the conveying mechanism is provided with a grading mechanism, the grading mechanism includes a total fruit inlet, a discharging flow channel, a grading push plate and a baffle driving device; the end of the conveying mechanism is connected with the total fruit inlet, the discharging flow channel is arranged below the total fruit inlet, the grading push plate is arranged in the discharging flow channel and separates the discharging flow channel into a medium fruit flow channel and a good fruit flow channel, the bottom of the grading push plate is hingedly connected to a support assembly, and the baffle driving device can drive the grading push plate to rotate so that the medium fruit flow channel or the good fruit flow channel is in communication with the total fruit inlet.

[0010] Preferably, the discharging outlets of the medium fruit flow channel and the good fruit flow channel are both provided with buffer brushes.

[0011] Preferably, the system further comprises a bagging mechanism, the bagging mechanism is arranged between the good fruit box and the discharging outlet of the good fruit flow channel, and the bagging mechanism is used for bagging the fruits falling from the discharging outlet.

[0012] Preferably, the bagging mechanism includes a bagging support plate, a bagging net disc, a bagging net guide roller, a shearing cylinder, a bagging net conveying roller, a bagging net pulling device, a fruit unloading cylinder and a fruit unloading hopper.

[0013] The bagging support plate is fixedly arranged on the walking mechanism, the bagging net disc is rotationally connected to the walking mechanism, the bagging net disc is used for arranging a bagging net roll, the bagging net conveying roller and the bagging net pulling device are arranged on the bagging support plate and rotationally driven by a motor, the bagging net conveying roller is arranged in pairs, the bagging net pulling device and the bagging net conveying roller are sequentially arranged below the discharging outlet, the free end of the bagging net on the bagging net disc extends towards the bagging net conveying roller and penetrates from the bottom to the top of the gap between the two bagging net conveying rollers, the rotation of the bagging net conveying roller can drive the bagging net to roll off from the bagging net disc, the pulling end of the bagging net pulling device is a upwardly curved burr structure, the bagging net pulling device is provided with two, the pulling end of the two bagging net pulling devices can be hooked on the bagging net when the pulling end is rotated to the bottom, and the pulling end of the two bagging net pulling devices can pull the free end of the bagging net upwardly; a shearing mechanism is arranged above the bagging net conveying roller, the shearing mechanism can shear the bagging net and form a single shockproof bagging net, the fruit unloading cylinder and the fruit unloading hopper are respectively arranged on the opposite sides of the bagging net conveying roller, and the fruit unloading cylinder is used for lifting the bagged fruits to the fruit unloading hopper on the other side of the bagging net conveying roller.

[0014] Preferably, the shearing mechanism comprises oppositely arranged blades and a cylinder driving the blades to move oppositely or towards each other.

[0015] Preferably, the optimal fruit box is provided with a translation platform, and a plurality of separate grooves are arranged in the optimal fruit box, and each groove can accommodate only one fruit, and the translation platform is controlled by the controller to drive the optimal fruit box to move so that each groove faces the fruit unloading funnel in turn.

[0016] Preferably, the picking mechanism is provided with a mechanical hand as a picking end effector, the mechanical hand comprises a plurality of grippers, the grippers are multi-joint mechanical grippers, the inner walls of the grippers are provided with pressure sensors for detecting the pressure between the grippers and the fruits, the controller predicts the size and shape of the fruits according to the bending states of the joints of the grippers, the controller predicts the hardness information of the fruits according to the pressure data of the pressure sensors, and the controller comprehensively judges the grade of the fruits and classifies the fruits by fusing the size, shape and hardness information of the fruits.

[0017] Preferably, the mechanical hand is further provided with an optical fiber probe, the controller obtains the internal quality information of the fruits such as soluble solids content, acidity and disease according to the spectral data measured by the optical fiber probe, the picking mechanism is provided with a picking camera, the controller obtains the external information of the fruits such as color and surface damage according to the surface image data measured by the picking camera, and the controller fuses the internal quality information and the external information of the fruits, comprehensively judges the grade of the fruits and classifies the fruits.

[0018] Preferably, the walking mechanism is further provided with a visual navigation camera and a wide-area recognition camera, the visual navigation camera is used for recognizing the orchard path and transmitting to the controller, the controller plans the path and controls the walking mechanism to walk on the planned path, and the wide-area recognition camera is used for recognizing the fruits on the trees on both sides of the orchard path and transmitting to the controller, the controller is used for extracting the coordinates of the fruits, and the controller is used for controlling the picking mechanism to pick the fruits.

[0019] The present application has the following technical effects relative to the prior art:

[0020] The fruit field picking, grading and packaging integrated equipment provided by the present application can realize integrated operation of picking, grading and packaging, is favorable for improving the intelligent degree of fruit grading and reducing operation procedures and fruit damage. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed in the embodiments will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0022] Figure 1 It is a structural diagram of a fruit field harvesting, grading and packaging integrated equipment;

[0023] Figure 2 It is a structural diagram of a harvesting end execution end;

[0024] Figure 3 It is a structural diagram of a conveying mechanism, a bagging mechanism and a grading mechanism;

[0025] Figure 4 It is a structural diagram of a fruit storage cavity;

[0026] Figure 5 It is a structural diagram of a conveying mechanism;

[0027] Figure 6 It is a structural diagram of a grading mechanism;

[0028] Figure 7 It is a structural diagram of a bagging mechanism;

[0029] Figure 8 It is a schematic diagram of the working principle of the bagging mechanism;

[0030] In the drawings: 1 - walking mechanism; 2 - visual navigation camera; 3 - fruit storage cavity; 3.1 - poor fruit and fruit falling port; 3.2 - total fruit entering port; 3.3 - translation platform; 4 - wide-area recognition camera; 5 - harvesting mechanical arm; 6 - mechanical hand; 6.1 - electric push rod; 6.2 - harvesting camera; 6.3 - end base; 6.4 - optical fiber probe; 6.5 - joint; 6.6 - pressure sensor; 6.7 - halogen tungsten lamp; 7 - conveying mechanism; 7.1 - conveying rack; 7.2 - conveying motor; 7.3 - conveying belt; 7.4 - fruit placement position; 8 - grading mechanism; 8.1 - grading inclined plate; 8.2 - grading push plate; 8.3 - grading track; 8.4 - buffer brush; 9 - bagging mechanism; 9.1 - bagging support plate; 9.2 - net disc; 9.3 - net guiding roller; 9.4 - shearing cylinder; 9.5 - shearing knife; 9.6 - net conveying roller; 9.7 - net stretching; 9.8 - fruit unloading cylinder; 9.9 - fruit unloading funnel; 10 - medium fruit falling plate; 11 - poor fruit box; 12 - medium fruit box; 13 - good fruit box; 14 - shockproof net. DETAILED DESCRIPTION

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The purpose of this invention is to provide an integrated equipment for harvesting, grading, and packaging fruit in the field, so as to solve the problems existing in the prior art, reduce the fruit transportation process, reduce fruit damage, improve harvesting efficiency, and improve economic benefits.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] This invention provides an integrated equipment for harvesting, grading, and packaging fruit in the field, such as... Figure 1 As shown, the system includes a walking mechanism 1 and a picking mechanism. The walking mechanism 1 has an autonomous walking function. The picking mechanism is mounted on the walking mechanism 1 and has an automatic picking function. The system also includes a storage area for inferior fruit and a storage area for qualified fruit, both mounted on the walking mechanism 1. The picking mechanism is equipped with a quality identification module, which is used to detect the quality of the picked fruit. Based on the quality detection results, the picking mechanism directly or via the conveyor mechanism 7 transfers the fruit to the storage area for inferior fruit or the storage area for qualified fruit. If the fruit is directly transferred, the picking mechanism needs to use its own movement to transport the fruit to the storage area for inferior fruit or the storage area for qualified fruit after picking it.

[0035] The walking mechanism 1 is self-powered, and its preferred walking method is track traction, i.e., tracked chassis.

[0036] The integrated fruit field harvesting, grading, and packaging equipment provided by this invention enables integrated harvesting, grading, and packaging operations, which helps improve the intelligence level of fruit grading, reduce operational steps, and minimize fruit damage. Therefore, the solution provided by this invention can reduce fruit transportation time, reduce fruit damage, improve harvesting efficiency, and increase economic benefits.

[0037] Considering that qualified fruits need to be boxed before being sold, based on the above embodiments, the qualified fruit storage area in this embodiment of the invention is equipped with premium fruit boxes 13 and medium-grade fruit boxes 12. The harvesting organization transfers the fruits directly or via the conveying mechanism 7 to the premium fruit boxes 13 and medium-grade fruit boxes 12 according to the quality inspection results. In this embodiment, the fruits to be sold are boxed directly in the field, reducing the procedure of transferring them to the factory for boxing and improving efficiency.

[0038] When the conveying mechanism 7 is used to transport the superior fruits and the medium fruits, two conveying mechanisms 7 can be used to cooperate with the superior fruit box 13 and the medium fruit box 12 respectively, that is, one conveying mechanism 7 is used to transport the superior fruits to the superior fruit box 13, and the other conveying mechanism 7 is used to transport the medium fruits to the medium fruit box 12; or the following embodiment can be used for conveying:

[0039] In the embodiment of the present application, the superior fruits and the medium fruits share the conveying mechanism 7, and therefore an additional grading mechanism 8 is needed to separately transport the fruits, as shown in the figure, Figure 6 The end of the conveying mechanism 7 is provided with the grading mechanism 8, the grading mechanism 8 comprises the total fruit inlet 3.2, the discharging flow channel, the grading paddle 8.2 and the baffle driving device; the end of the conveying mechanism 7 is connected with the total fruit inlet 3.2, the discharging flow channel is arranged below the total fruit inlet 3.2, the grading paddle 8.2 is arranged in the discharging flow channel and separates the discharging flow channel into the medium fruit flow channel and the superior fruit flow channel, the bottom of the grading paddle 8.2 is hingedly connected to a support assembly, and the baffle driving device can drive the grading paddle 8.2 to rotate so that the medium fruit flow channel or the superior fruit flow channel is through with the total fruit inlet 3.2.

[0040] Specifically, as shown in the figures, Figure 3 , Figure 5 The discharging flow channel can be formed in a shell, the total fruit inlet 3.2 is formed at the top of the shell, the shell is vertically and fixedly arranged below the end of the conveying mechanism 7, and the fruit is dropped into the discharging flow channel from the total fruit inlet 3.2 when the fruit is transported to the end of the conveying mechanism 7; when the fruit is a superior fruit, the controller controls the grading paddle 8.2 to rotate towards the medium fruit flow channel so that the total fruit inlet 3.2 is through with the superior fruit flow channel; on the contrary, when the fruit is a medium fruit, the controller controls the grading paddle 8.2 to rotate towards the superior fruit flow channel so that the total fruit inlet 3.2 is through with the medium fruit flow channel. It should be noted that the conveying mechanism 7 can transport the fruit into the grading mechanism 8 for grading after receiving the fruit, or a plurality of fruit placing positions 7.4 can be arranged on the conveying surface of the conveying mechanism 7, each fruit placing position 7.4 is provided with a mark, and the mark is pre-recorded into the controller, each fruit placing position 7.4 can only accommodate one fruit, and the conveying mechanism 7 moves a certain distance each time, which is equal to the sum of the length of the fruit placing position 7.4 and the spacing between adjacent two fruit placing positions 7.4, so that only the fruit on one fruit placing position 7.4 falls into the total fruit inlet 3.2 each time; when the picking mechanism places the fruit on the fruit placing position 7.4, the mark of the fruit placing position 7.4 is obtained and transmitted to the controller, and when the fruit placing position 7.4 is transported to the end, the controller controls the grading paddle 8.2 to rotate in the corresponding direction to grade the fruit.

[0041] In the preferred embodiment, the discharge port of the medium fruit flow channel and the good fruit flow channel are provided with buffer brushes 8.4. The buffer brushes 8.4 are in the form of a curtain to reduce the speed of the fruit falling and avoid bruising.

[0042] In the preferred embodiment, the fruit field harvesting, grading and packaging integrated equipment of the present application further comprises a bagging mechanism 9 arranged between the good fruit box 13 and the discharge port of the good fruit flow channel, and the bagging mechanism 9 is used for bagging the fruit falling from the discharge port.

[0043] Specifically, as shown in Figures 7-8 the bagging mechanism 9 comprises a bagging support plate 9.1, a bagging net disc 9.2, a bagging net guide roller 9.3, a shearing cylinder 9.4, a bagging net conveying roller 9.6, a bagging net stretching device 9.7, a fruit unloading cylinder 9.8 and a fruit unloading hopper 9.9; the bagging support plate 9.1 is fixedly arranged on the walking mechanism 1, the bagging net disc 9.2 is rotatably connected to the walking mechanism 1, the bagging net disc 9.2 is used for arranging a bagging net roll, the bagging net conveying roller 9.6 and the bagging net stretching device 9.7 are arranged on the bagging support plate 9.1 and driven to rotate by a motor, the bagging net conveying roller 9.6 is arranged in pairs, the bagging net stretching device 9.7 and the bagging net conveying roller 9.6 are arranged in sequence from top to bottom directly below the discharge port, the free end of the bagging net on the bagging net disc 9.2 extends towards the bagging net conveying roller 9.6 and passes from the bottom to the top of the gap between the two bagging net conveying rollers 9.6, the rotation of the bagging net conveying roller 9.6 can drive the bagging net to roll off the bagging net disc 9.2, the pulling end of the bagging net stretching device 9.7 is in the form of an upwardly curved spur structure, the bagging net stretching device 9.7 is provided with two, the pulling end of the two bagging net stretching devices 9.7 can be hooked on the bagging net when the pulling end is rotated to the bottom, and the pulling end of the two bagging net stretching devices 9.7 can pull the free end of the bagging net apart when the pulling end is rotated upwards; a shearing mechanism is arranged above the bagging net conveying roller 9.6, the shearing mechanism can shear the bagging net and form a single shockproof bagging net 14; the fruit unloading cylinder 9.8 and the fruit unloading hopper 9.9 are arranged on opposite sides of the bagging net conveying roller 9.6, respectively, and the fruit unloading cylinder 9.8 is used for lifting the bagged fruit to the fruit unloading hopper 9.9 on the other side of the bagging net conveying roller 9.6. The shearing mechanism comprises opposite blades and a cylinder driving the blades to move relative to or towards each other. The mounting positions of the components in the present embodiment can be provided by other components, or they can be supported by providing a support frame.

[0044] The shockproof bagging net 14 is made of expandable polyethylene material.

[0045] As shown in Figure 4As shown, considering that some fruits need to be provided with a partition plate in the box when sold on the market, the partition plate separates the space in the box into multiple separate spaces to avoid collision of the fruits during transportation, therefore, in the embodiment of the application, the bottom of the fruit box 13 is provided with a translation platform 3.3, and multiple separate grooves are arranged in the fruit box 13, one groove can only accommodate one fruit, and the translation platform 3.3 drives the fruit box 13 to move under the control of the controller so that each groove is in turn opposite to the fruit unloading funnel 9.9. After receiving the fruit, the controller controls the translation platform 3.3 to drive the fruit box 13 to move a certain distance so that the next empty groove is opposite to the fruit unloading funnel 9.9.

[0046] The picking mechanism in the application preferably adopts a mechanical hand 6 to grasp and pick, and of course, any device in the prior art that can realize automatic picking and placing of picked fruits in a designated position can also be adopted.

[0047] In the embodiment of the application, as shown in the figure, Figure 2 The picking end effector of the picking mechanism is a mechanical hand 6, the mechanical hand 6 includes multiple grippers, and the gripper is a multi-joint 6.5 mechanical gripper; the inner wall of the gripper is provided with a pressure sensor 6.6, the pressure sensor 6.6 is used to detect the pressure between the gripper and the fruit, the controller predicts the size and shape of the fruit according to the bending state of the multiple joints 6.5 in each gripper, the controller predicts the hardness information of the fruit according to the pressure data of the pressure sensor 6.6, and the controller fuses the size, shape and hardness information of the fruit to comprehensively judge the grade of the fruit and perform grading.

[0048] On the basis of the above embodiment, in order to further improve the fruit rating accuracy, in the embodiment of the application, the mechanical hand 6 is further provided with a fiber probe 6.4, the controller obtains the internal quality information of the soluble solids content, acidity and whether the fruit is diseased according to the spectrum data measured by the fiber probe 6.4, the picking mechanism is provided with a picking camera 6.2, the controller obtains the external information of the fruit color and surface damage according to the surface image data measured by the picking camera 6.2, and the controller fuses the internal quality information and external information of the fruit to comprehensively judge the grade of the fruit and perform grading.

[0049] Specifically, the mechanical hand 6 is controlled by the picking mechanical arm 5 to move in three dimensions, and in the preferred embodiment, an electric push rod 6.1 can be arranged at the end of the picking mechanical arm 5, an end base 6.3 is arranged on the electric push rod 6.1, and the mechanical hand 6 is arranged on the end base 6.3, when the position of the fruit is detected, the picking mechanical arm 5 controls the mechanical hand 5 to be opposite to the fruit, and the electric push rod 6.1 is elongated to make the mechanical hand 6 close to the fruit, so that fruits with higher height and farther distance can be adapted.

[0050] In the preferred embodiment, the walking mechanism 1 is further provided with a visual navigation camera 2 and a wide-area recognition camera 4, the visual navigation camera 2 is used to identify the orchard path and transmit to the controller, the controller plans the path and controls the walking mechanism 1 to walk on the planned path, and the wide-area recognition camera 4 is used to identify the fruits on the trees on both sides of the orchard path and transmit to the controller, the controller is used to extract the fruit position coordinates, and the controller is used to control the picking mechanism to pick the fruits.

[0051] In the preferred embodiment, the mechanical hand 6 can be provided in multiple, and different sizes of mechanical hand 6 can be provided to adapt to the grasping of fruits of different sizes, the wide-area recognition camera 4 identifies the fruit size, the controller classifies the fruit size, the fruits within the small size range are controlled by the small mechanical hand 6 to pick, and the fruits within the large size range are controlled by the large mechanical hand 6 to pick, so as to improve the picking quality.

[0052] In the preferred embodiment, as shown in Figure 4 The walking mechanism 1 is provided with a support shell, the support shell is used to provide mounting positions for various components, the inside of the support shell is the fruit storage cavity 3, and is used to accommodate the inferior fruit box 11, the medium fruit box 12 and the superior fruit box 13; the inferior fruit box 11 is provided with two, and the support shell opposite to the top of the inferior fruit box 11 is provided with an inferior fruit dropping port 3.1, and the picking mechanism directly drops the inferior fruits into the inferior fruit box 11 through the inferior fruit dropping port 3.1.

[0053] The specific working process and working principle of the optimal embodiment of the present application are as follows:

[0054] S1. Preparation and start-up:

[0055] Firstly, the fruit field picking, grading and packaging integrated equipment is transported to the standardized dwarf and high-density planting orchard. The shockproof net 14 wrapped around the net 9.2 is hung on the bag supporting plate 9.1, and the shockproof net 14 is extruded between the net conveying rollers 9.6 through the net guide rollers 9.3. Two inferior fruit boxes 11 are placed in the fruit storage cavity 3 below the inferior fruit dropping port 3.1, the medium fruit box 12 is placed in the fruit storage cavity 3 below the medium fruit dropping plate 10, and the superior fruit box 13 is placed on the translation platform 3.3 below the fruit unloading hopper 9.9. Then, the fruit field picking, grading and packaging integrated equipment is started.

[0056] S2. Fruit identification and positioning:

[0057] The visual navigation camera 2 recognizes the orchard path and plans the path. The fruit field picking and grading integrated equipment runs on the planned path under the traction of the walking mechanism 1. The wide-area recognition camera 4 recognizes the fruits on the fruit trees on both sides of the orchard path and extracts the fruit position coordinates, which are used to control the different sizes of the picking mechanical arm 5 to drive the picking end manipulator 6 to the vicinity of the fruits at different heights. The picking camera 6.2 further precisely locates the fruits, and the mechanical arm drives the manipulator 6 to gradually approach and contact the fruits.

[0058] S3. Fruit grabbing and grade evaluation:

[0059] The joints 6.5 of the manipulator 6 gradually bend until the force sensor 6.6 has a force signal output, and the joint 6.5 stops bending. Finally, each joint 6.5 adheres to the surface of the fruit, achieving the grabbing of the fruit.

[0060] The fruit size and shape are predicted according to the curvature of the joints 6.5, the hardness information of the fruit is predicted according to the pressure data of the pressure sensor 6.6, and the surface image information of the fruit such as fruit color and surface damage is collected by the picking camera 6.2. At the same time, the halogen tungsten lamp 6.7 and the optical fiber probe 6.4 are turned on, and the spectral data are measured to predict the internal quality information of the fruit such as soluble solids content, acidity, and disease. The internal and external quality information of the fruit is fused, and the fruit grade is comprehensively judged to realize multi-source information fusion of fruit grading.

[0061] After the above fruit completes internal and external quality detection and grading, the picking mechanical arm 5 drives the manipulator 6 to achieve fruit picking.

[0062] S4. Fruit grading and transportation:

[0063] According to the multi-source information fusion grade evaluation result in S3 fruit grabbing and grade evaluation, the picking mechanical arm 5 drives the manipulator 6 to directly put the inferior fruits into the inferior fruit drop port 3.1 of the fruit storage cavity 3, and the inferior fruit box 11. The medium and superior fruits are placed in the fruit placement position 7.4 on the conveying mechanism 7, and the conveying belt 7.3 is driven to run by the conveying motor 7.2, and the medium and superior fruits are transported to the grading mechanism 8. After the medium and superior fruits fall into the total drop port, the grading paddle 8.2 pushes the medium fruits to the direction of the medium fruit drop plate 10, gradually reduces the rolling speed through the grading track 8.3 and the buffer brush 8.4, and falls into the medium fruit box 12 through the medium fruit drop plate 10; the grading paddle 8.2 pushes the superior fruits to the direction of the bagging mechanism 9, gradually reduces the rolling speed through the grading track 8.3 and the buffer brush 8.4, and finally falls into the bagging mechanism 9.

[0064] S5. Superior fruit is wrapped in shockproof sleeve net 14:

[0065] Before the good fruit reaches the bagging mechanism 9, the net stretching 9.7 is in low position and the shearing cylinder 9.4 is in retracted state. The net conveying roller 9.6 rotates to convey the shockproof net 14 upward until the burr on the end of the net stretching 9.7 is higher than the burr on the other end of the net stretching 9.7. Then, the net stretching 9.7 rotates upward, and when the two burrs on the ends of the net stretching 9.7 are closest, the burrs hook the shockproof net 14. Since the movement of the net stretching 9.7 is upward and outward, the shockproof net 14 is gradually stretched while moving upward, and finally forms a hollow net structure of the shockproof net 14.

[0066] As the good fruit falls from the grading mechanism 8, it falls into the hollow net structure of the shockproof net 14. Then, the net stretching 9.7 rotates downward, the shockproof net 14 is gradually released from the hooking of the burrs, and at the same time, the two shearing cylinders 9.4 inflate and extend outward, and the two shearing knives 9.5 cut the lower part of the shockproof net 14. At this time, the good fruit with the shockproof net 14 is placed above the two shearing knives 9.5.

[0067] S6. Good fruit boxing:

[0068] The good fruit with the shockproof net 14 is pushed by the unloading cylinder 9.8 and falls into the unloading hopper 9.9. The outlet of the unloading hopper 9.9 corresponds to one slot in the good fruit box 13, and the good fruit falling into the unloading hopper 9.9 falls into the corresponding slot in the good fruit box 13. When each slot is filled with fruit, the translation platform 3.3 drives the good fruit box 13 to translate by a slot distance, so that the unloading hopper 9.9 corresponds to the next slot in the good fruit box 13. This cycle continues until each good fruit box 13 is filled with good fruit with the shockproof net 14.

[0069] In the present application, specific examples are applied to illustrate the principles and implementation modes of the present application. The above examples are only used to help understand the method of the present application and its core idea; at the same time, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In summary, the content of the present application should not be understood as a limitation of the present application.

Claims

1. A fruit field picking, grading and packaging integrated equipment, comprising a walking mechanism and a picking mechanism, the walking mechanism has an autonomous walking function, the picking mechanism is arranged on the walking mechanism, and the picking mechanism has an automatic picking function, characterized in that: Also includes: The walking mechanism is equipped with a storage area for inferior fruit and a storage area for qualified fruit. The storage area for qualified fruit is equipped with a box for superior fruit and a box for medium-quality fruit. The picking mechanism is integrated with a quality identification module, which is used to detect the quality of the picked fruit. Based on the quality detection results, the picking mechanism directly transfers inferior fruit to the storage area for inferior fruit and transfers qualified fruit to the box for superior fruit or the box for medium-quality fruit via a conveying mechanism. The end of the conveying mechanism is provided with a grading mechanism, which includes a main fruit inlet, a discharge channel, a grading baffle, and a baffle driving device. The end of the conveying mechanism is connected to the main fruit inlet. The discharge channel is located below the main fruit inlet. The grading baffle is located in the discharge channel and divides the discharge channel into a medium-sized fruit channel and a high-quality fruit channel. The bottom of the grading baffle is hinged to a support assembly. The baffle driving device can drive the grading baffle to rotate so that the medium-sized fruit channel or the high-quality fruit channel is connected to the main fruit inlet. The medium-sized fruit channel is connected to the medium-sized fruit box. It also includes a bagging mechanism, which is disposed between the fruit box and the discharge port of the fruit flow channel; The bagging mechanism includes a bagging support plate, a netting disc, a netting guide roller, a shearing cylinder, a netting conveying roller, a netting stretching roller, a fruit unloading cylinder, and a fruit unloading funnel. The bagging support plate is fixedly mounted on the traveling mechanism, and the netting disc is rotatably connected to the traveling mechanism. The netting disc is used to hold the netting roll. The netting conveying roller and the netting stretching roller are mounted on the bagging support plate and driven to rotate by a motor. The netting conveying rollers are arranged in pairs, and the netting stretching roller and the netting conveying roller are arranged sequentially from top to bottom directly below the discharge port. The free end of the netting on the netting disc extends towards the netting conveying roller and passes through the bottom to the top of the gap between the two netting conveying rollers. The rotation of the conveyor roller causes the netting to unwind from the netting reel. The pull-out end of the netting has an upward-curving, burr-like structure. There are two netting pull-out ends. When the two pull-out ends rotate to the bottom, they can hook onto the netting. When the two pull-out ends rotate upward, they can pull open the free end of the netting. A shearing mechanism is provided directly above the netting conveyor roller. The shearing mechanism can cut the netting and form a separate shockproof netting. The fruit unloading cylinder and the fruit unloading funnel are respectively located on opposite sides of the netting conveyor roller. The fruit unloading cylinder is used to push the bagged fruit into the fruit unloading funnel on the other side of the netting conveyor roller.

2. The fruit field picking, grading and packaging integrated apparatus according to claim 1, characterized in that: The shearing mechanism includes oppositely arranged blades and a cylinder that drives the blades to move relative to or towards each other.

3. The fruit field picking, grading and packaging integrated apparatus according to claim 1, characterized in that: The bottom of the premium fruit box is equipped with a translation platform, and the premium fruit box is provided with multiple individual compartments. Each compartment can only hold one fruit. Under the control of the controller, the translation platform moves the premium fruit box so that each compartment is aligned with the fruit unloading funnel in sequence.

4. The integrated fruit field harvesting, grading, and packaging equipment according to claim 1, characterized in that: Both the medium-sized fruit flow channel and the high-quality fruit flow channel are equipped with buffer brushes at their outlets.

5. The integrated fruit field harvesting, grading, and packaging equipment according to claim 1, characterized in that: The harvesting mechanism's end-effector is a robotic arm, comprising multiple grippers, each a multi-jointed gripper. Pressure sensors are installed on the inner walls of the grippers to detect the pressure between the grippers and the fruit. A controller predicts the fruit's size and shape based on the bending state of the joints in each gripper, and predicts the fruit's firmness based on the pressure data from the pressure sensors. The robotic arm also has a fiber optic probe; the controller obtains the fruit's soluble solids content, acidity, and internal quality information (whether it is diseased) based on the spectral data measured by the probe. A harvesting camera is installed on the harvesting mechanism; the controller obtains the fruit's color and external information (surface image data) based on the camera's measurement. The controller integrates the fruit's internal and external quality information to comprehensively determine and grade the fruit.

6. The integrated fruit field harvesting, grading, and packaging equipment according to claim 1, characterized in that: The walking mechanism is also equipped with a visual navigation camera and a wide-area recognition camera. The visual navigation camera is used to identify the orchard path and transmit the information to the controller. The controller performs path planning and controls the walking mechanism to walk on the planned path. The wide-area recognition camera is used to identify the fruit on the fruit trees on both sides of the orchard path and transmit the information to the controller. The controller is used to extract the location coordinates of the fruit and control the picking mechanism to pick the fruit.

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