Intelligent pineapple picking machine and picking method based on core xyz system and machine vision

Abstract

The application discloses a kind of intelligent pineapple picking machine and picking method based on Core XYZ system and machine vision, and pineapple picking machine includes: machine body support;Visual module is set on the machine body support, and visual module is used to identify the spatial position of pineapple;Main control module is electrically connected with visual module, and visual module can transmit spatial position information to main control module, and main control module can convert spatial position information into spatial coordinates;Main control module drives machine body support to move according to spatial coordinates;Core XYZ system is set on the machine body support, and main control module drives Core XYZ system to reach specified position according to spatial coordinates;End effector is connected with Core XYZ system, and Core XYZ system can drive end effector to reach picking position, and main control module controls end effector to clamp or loosen pineapple, and end effector can rotate to realize to twist pineapple;Core XYZ system can drive end effector to move pineapple to conveying mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to an intelligent pineapple picking machine based on a Core XYZ system and machine vision and a picking method. BACKGROUND

[0002] Pineapple is one of the important tropical fruits in China, with a domestic planting area of about 1 million mu. China's pineapple production ranks third in the world and is an important pillar industry in Guangdong, Hainan and other places. Pineapple is a nutrient-rich fruit that contains rich vitamins C, B1, B6, manganese, copper, dietary fiber, etc. It helps to promote the secretion of digestive juice and can speed up the digestion and absorption of food in the body, which has a good effect on relieving and regulating human food and indigestion. In addition, pineapple also contains a large amount of fruit juice, rich in carbohydrates, vitamin C and inorganic salts. People can absorb the necessary nutrients after eating, and it can also quench thirst, especially suitable for people to eat in summer, which can relieve heat and prevent symptoms of heat stroke.

[0003] Pineapple is a four-season fruit, and summer is the best harvest period. Pineapple production usually has four picking seasons, namely, spring fruit matured and picked in April-May, summer fruit matured and picked in June-July, autumn fruit matured and picked in October-November, and winter fruit matured and picked in December-January. At present, most of the pineapple picking methods in China are manual picking, which is backward, has high labor intensity and labor cost (the cost of human resources required in the entire picking operation cycle accounts for 40% of the total cost of pineapple production), low efficiency, and is affected by season and picking cycle length.

[0004] The popularization of pineapple picking machines plays a huge role in alleviating the shortage of labor resources and driving the economic development of pineapple planting areas. However, the existing pineapple picking machines have the problem of inaccurate picking, resulting in low pineapple picking efficiency. SUMMARY

[0005] The present application aims to overcome the shortcomings of the prior art and provide an intelligent pineapple picking machine based on a Core XYZ system and machine vision and a picking method, which solves the problem of inaccurate picking of existing pineapple picking machines.

[0006] The technical solution of the present application is: an intelligent pineapple picking machine based on a Core XYZ system and machine vision, comprising:

[0007] A machine body support capable of moving;

[0008] A vision module arranged on the machine body support, the vision module being used to identify the spatial position of the pineapple;

[0009] a main control module, the main control module is arranged on the body support, the main control module is electrically connected with the visual module, the visual module can identify the spatial position information of the pineapple, and the spatial position information is transmitted to the main control module, the main control module can convert the spatial position information into spatial coordinates;The body support is electrically connected with the main control module, and the main control module drives the body support to move according to the spatial coordinates;

[0010] Core XYZ system, the Core XYZ system is arranged on the body support, the main control module is electrically connected with the Core XYZ system, and the main control module drives the Core XYZ system to reach the specified position according to the spatial coordinates;

[0011] End effector, the end effector is connected with the Core XYZ system, the Core XYZ system can drive the end effector to reach the picking position, the end effector is electrically connected with the main control module, the main control module controls the end effector to clamp or release the pineapple, and the end effector can rotate to realize the twist pineapple;

[0012] Conveying mechanism, the conveying mechanism is connected with the body support, the Core XYZ system can drive the end effector to move the pineapple to the conveying mechanism, and the conveying mechanism can convey the pineapple to the collection area.

[0013] Further, the end effector includes a fixed seat, a rotating mechanism, a clamping mechanism, a driving connecting rod, a mechanical finger and a holding hand, the fixed seat is connected with the Core XYZ system, the rotating mechanism is arranged on the fixed seat, the clamping mechanism is movably connected with the rotating mechanism, the rotating mechanism can drive the clamping mechanism to rotate, one end of the mechanical finger is movably connected with the clamping mechanism, and the other end is connected with the holding hand, one end of the driving connecting rod is movably connected with the driving seat of the clamping mechanism, and the other end is movably connected with the mechanical finger, the clamping mechanism can drive the holding hand to clamp or release;The main control module is electrically connected with the clamping mechanism and the rotating mechanism.

[0014] Further, the fixed seat comprises a first support and a second support connected to each other, the first support and the second support enclosing a receiving space, the second support being connected to the Core XYZ system, the rotating mechanism comprising a steering engine, a driving gear and a driven gear, the driving gear and the driven gear being located in the receiving space, the steering engine being connected to the first support, the steering engine being connected to the driving gear through a gear coupling, the driving gear being engaged with the driven gear, the driven gear being connected to the clamping mechanism through a gear coupling, the steering engine being electrically connected to the master control module.

[0015] Further, the clamping mechanism comprises a stepping motor, a mechanical wrist, a mechanical arm, a driving seat, a lead screw, a lead screw nut seat, a first horizontal bearing, a second horizontal bearing and a first optical axis, the first horizontal bearing being connected to the first support, one end of the first optical axis being connected to the mechanical arm, the other end of the first optical axis being connected to the gear coupling of the driven gear through the first horizontal bearing, the stepping motor being arranged in the mechanical arm, the mechanical wrist being connected to the mechanical arm, the second horizontal bearing being arranged in the mechanical wrist, one end of the lead screw being connected to the spring coupling of the stepping motor through the second horizontal bearing, the lead screw nut seat being connected to the lead screw, the driving seat being connected to the lead screw nut seat, one end of the mechanical finger being movably connected to the mechanical wrist.

[0016] Further, the end effector further comprises a supplementary cutting mechanism, the supplementary cutting mechanism comprising a support arm, a counterweight, a second optical axis and a blade, one end of the support arm being connected to the fixed seat, the other end of the support arm being provided with a mounting space, the blade being arranged in the mounting space, the support arm being provided with a cutting opening, the blade being capable of being exposed to the cutting opening, the second optical axis being connected to the blade, the second optical axis being movably connected to the support arm and the counterweight, the counterweight being provided with a cutting path limiting groove, the second optical axis being located in the cutting path limiting groove, the second optical axis being capable of moving along the cutting path limiting groove, under the action of gravity, the counterweight closes the cutting opening, when the pineapple is held, the pineapple stem can lift the counterweight into the cutting opening, in the process of lifting the counterweight, the second optical axis moves from one end of the cutting path limiting groove to the other end, driving the blade into the cutting opening to cut the pineapple stem.

[0017] Further, the Core XYZ system comprises a support, a sliding block, a sliding rail, an X-axis ball screw mechanism, a Y-axis ball screw mechanism and a Z-axis ball screw mechanism, the support is connected with the machine body support, the Y-axis ball screw mechanism and the sliding rail are respectively arranged on the support, the Y-axis ball screw mechanism and the sliding rail are arranged in parallel, the sliding block is slidably connected with the sliding rail, one end of the X-axis ball screw mechanism is connected with the sliding table of the Y-axis ball screw mechanism, and the other end is connected with the sliding block, the Z-axis ball screw mechanism is connected with the sliding table of the X-axis ball screw mechanism, the end effector is connected with the sliding table of the Z-axis ball screw mechanism, and the master control module is electrically connected with the X-axis ball screw mechanism, the Y-axis ball screw mechanism and the Z-axis ball screw mechanism respectively.

[0018] Further, the pineapple picking machine further comprises a lifting mechanism, the machine body support comprises an upper support and a lower support, the upper support is slidably connected with the lower support, the lifting mechanism comprises an upper load platform, a lower load platform and an electric push rod, the upper load platform is connected with the upper support, the lower load platform is connected with the lower support, the electric push rod is connected with the upper load platform, and a push rod end of the electric push rod abuts against the lower load platform; the vision module, the master control module, the Core XYZ system and the conveying mechanism are arranged on the upper support.

[0019] Further, the conveying mechanism comprises an inclined platform, a conveying belt assembly, a classification platform, a classification steering wheel and a collection basket, the inclined platform is arranged on the machine body support, the bottom of the inclined platform is located at one end of the conveying belt assembly, the classification platform is located at the other end of the conveying belt assembly, the classification steering wheel is connected with the machine body support, the classification steering wheel is connected with the classification platform, the collection area is located on the two sides of the classification platform, the collection basket is placed in the collection area, and the classification steering wheel is electrically connected with the vision module and the master control module, and the classification steering wheel can control the classification platform to deflect laterally.

[0020] Further, the pineapple picking machine further comprises a suspension mechanism, the suspension mechanism comprises an upper support, a lower support, a shock absorber and a speed reduction motor, the upper support is connected with the machine body support, one end of the shock absorber is connected with the upper support, the other end is connected with the lower support, the upper support is slidably connected with the lower support, the speed reduction motor is connected with the lower support, the speed reduction motor is electrically connected with the master control module, and the output end of the speed reduction motor is connected with the wheels of the machine body support.

[0021] The application also provides another technical scheme: a picking method of an intelligent pineapple picking machine based on a Core XYZ system and machine vision, comprising:

[0022] The visual module recognizes spatial position information of the pineapple and transmits the spatial position information to the master control module, the master control module can convert the spatial position information into spatial coordinates; the master control module drives the body support to move to the vicinity of the pineapple according to the spatial coordinates; the master control module drives the Core XYZ system to move to the specified position according to the spatial coordinates, the Core XYZ system drives the end effector to reach the picking position, the master control module controls the end effector to clamp the pineapple, and the master control module can control the end effector to rotate to realize the twisting of the pineapple; after the pineapple picking is completed, the master control module controls the Core XYZ system to move, the Core XYZ system drives the end effector to move the pineapple to the conveying mechanism, the master control module controls the end effector to release the pineapple to make the pineapple fall to the conveying mechanism, and the conveying mechanism can convey the pineapple to the collection area.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1、The pineapple picking machine has the characteristics of cross-ridge double-plant picking, which is in line with the current situation of most pineapple single-ridge double-row in China, and the lifting mechanism driven by the push rod is designed, and the suspension mechanism is also provided, which can adapt to various complex terrain conditions to a certain extent, make the picking work more smoothly, and can reduce the damage to the pineapple plant during picking, retain the maximum regenerative ability, and be beneficial to the picking of the next season.

[0025] 2、The pineapple picking machine based on the traditional manual picking method adopts the end effector for imitating hand picking, which can reduce the damage of the pineapple compared with large-scale machine unified harvesting, and is realized by a new combination form of typical mechanism. For example, the screw straight line motion is used to realize the tightening and loosening action of the hand holding; a plurality of linear motion mechanisms are designed to realize the movement of the end effector at any coordinate in the specified space, so that the picking work is more accurate.

[0026] 3、The pineapple picking machine can automatically complete the picking work in the field, reduces the volume of the pineapple picking machine, realizes the picking target of small volume and high efficiency, reduces the cost, and faces the middle and low consumption groups.

[0027] 4、The pineapple picking machine has simplicity, and for the large pineapple picking machine existing today, the picking process of the present application is more secure, and the pineapple rhizome and pineapple skin are better preserved, the pineapple preservation period is effectively prolonged, and the market demand is better met. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structure schematic view of the pineapple picking machine of the embodiment of the present application.

[0029] Figure 2 Another perspective view of the structure of the pineapple picking machine according to an embodiment of the present application.

[0030] Figure 3 A structure diagram of the Core XYZ system according to an embodiment of the present application.

[0031] Figure 4 A structure diagram of the end effector according to an embodiment of the present application.

[0032] Figure 5 A structure diagram of the supplementary cutting mechanism according to an embodiment of the present application.

[0033] Figure 6 A structure diagram of the supplementary cutting mechanism according to an embodiment of the present application when the counterweight is completed jacking.

[0034] Figure 7 A structure diagram of the suspension mechanism according to an embodiment of the present application.

[0035] Machine body support 1, upper support 11, lower support 12, wheel 13;

[0036] Core XYZ system 2, support frame 21, sliding block 22, sliding rail 23, X-axis ball screw mechanism 24, Y-axis ball screw mechanism 25, Z-axis ball screw mechanism 26;

[0037] End effector 3, fixed seat 31, first support 311, second support 312, rotating mechanism 32, rudder 321, driving gear 322, driven gear 323, clamping mechanism 33, stepping motor 331, mechanical wrist 332, mechanical arm 333, driving seat 334, screw rod 335, screw rod nut seat 336, first horizontal bearing 337, second horizontal bearing 338, first optical axis 339, driving connecting rod 34, mechanical finger 35, clamping hand 36, supplementary cutting mechanism 37, support arm 371, cutting port 3711, counterweight 372, cutting path limiting groove 3721, second optical axis 373, blade 374;

[0038] Conveying mechanism 4, inclined platform 41, conveying belt assembly 42, conveying belt 421, conveying belt motor 422, classification platform 43, classification rudder 44, collection basket 45;

[0039] Lifting mechanism 5, upper load platform 51, lower load platform 52, electric push rod 53, limiting profile 54;

[0040] Suspension mechanism 6, upper support 61, lower support 62, shock absorber 63, speed reducer motor 64, connecting plate 65. DETAILED DESCRIPTION

[0041] The application will be further described in detail below with reference to the embodiments, but the embodiments of the application are not limited thereto.

[0042] Embodiments

[0043] The popularization of the pineapple picking machine has a great effect on alleviating the shortage of labor resources and driving the economic development of pineapple planting areas. However, the existing pineapple picking machine has the problem of inaccurate picking, resulting in low pineapple picking efficiency. The embodiment provides an intelligent pineapple picking machine based on a Core XYZ system and machine vision, which solves the problem of inaccurate picking of the existing pineapple picking machine.

[0044] In some embodiments, as shown in Figure 1 and Figure 2 , an intelligent pineapple picking machine based on a Core XYZ system and machine vision is provided, comprising:

[0045] A machine body support 1, which can move;

[0046] A vision module, which is arranged on the machine body support 1, is used to identify the spatial position of the pineapple;

[0047] A main control module, which is arranged on the machine body support 1, is electrically connected with the vision module. The vision module can identify the spatial position information of the pineapple and transmit it to the main control module. The main control module can convert the spatial position information into spatial coordinates. The machine body support 1 is electrically connected with the main control module. The main control module drives the machine body support 1 to move according to the spatial coordinates;

[0048] A Core XYZ system 2, which is arranged on the machine body support 1, is electrically connected with the main control module. The main control module drives the Core XYZ system 2 to reach the specified position according to the spatial coordinates;

[0049] An end execution mechanism 3, which is connected with the Core XYZ system 2, can be driven by the Core XYZ system 2 to reach the picking position. The end execution mechanism 3 is electrically connected with the main control module. The main control module controls the end execution mechanism 3 to clamp or release the pineapple. The end execution mechanism 3 can rotate to twist the pineapple;

[0050] A conveying mechanism 4, which is connected with the machine body support 1, can move the pineapple to the conveying mechanism 4 by the Core XYZ system 2. The conveying mechanism 4 can convey the pineapple to the collection area.

[0051] The spatial position information of the pineapple is recognized by the vision module, and the spatial position information is transmitted to the main control module. The main control module can convert the spatial position information into spatial coordinates, i.e., three-dimensional XYZ coordinates. The main control module drives the body support 1 to move to the vicinity of the pineapple according to the spatial coordinates. The main control module drives the Core XYZ system 2 to reach the specified position according to the spatial coordinates. The Core XYZ system 2 can drive the end effector 3 to reach the picking position to pick the pineapple. The vision module accurately recognizes the spatial position information of the pineapple. The Core XYZ system 2 drives the end picking mechanism to accurately reach the picking position, greatly improving the accuracy of pineapple picking.

[0052] In some embodiments, as shown in Figure 4 The end effector 3 includes a fixed seat 31, a rotating mechanism 32, a clamping mechanism 33, a driving link 34, a mechanical finger 35, and a hand 36. The fixed seat 31 is connected with the Core XYZ system 2. The rotating mechanism 32 is arranged on the fixed seat 31. The clamping mechanism 33 is movably connected with the rotating mechanism 32. The rotating mechanism 32 can drive the clamping mechanism 33 to rotate. One end of the mechanical finger 35 is movably connected with the clamping mechanism 33, and the other end is connected with the hand 36. One end of the driving link 34 is movably connected with the driving seat 334 of the clamping mechanism 33, and the other end is movably connected with the mechanical finger 35. The clamping mechanism 33 can drive the hand 36 to clamp or release. The main control module is electrically connected with the clamping mechanism 33 and the rotating mechanism 32.

[0053] In operation, the main control module moves the driving seat 334 of the clamping mechanism 33 to drive the driving link 34 to move, which drives the mechanical finger 35 to move, and the mechanical finger 35 drives the hand 36 to clamp or release the pineapple. The rotating mechanism 32 can drive the clamping mechanism 33 to rotate, which drives the hand 36 to rotate to achieve the twisting of the pineapple, so that the pineapple is separated from the pineapple stem, and the picking of the pineapple is completed.

[0054] In some embodiments, as shown in Figure 4As shown, the fixed seat 31 comprises a first support 311 and a second support 312 connected with each other, the first support 311 and the second support 312 enclose a receiving space, the second support 312 is connected with the Core XYZ system 2, the rotating mechanism 32 comprises a steering wheel 321, a driving gear 322 and a driven gear 323, the driving gear 322 and the driven gear 323 are located in the receiving space, the steering wheel 321 is connected with the first support 311, the steering wheel 321 is connected with the driving gear 322 through a gear coupling, the driving gear 322 is engaged with the driven gear 323, the driven gear 323 is connected with the clamping mechanism 33 through a gear coupling, and the steering wheel 321 is electrically connected with the master control module.

[0055] When the hands 36 hold the pineapples, the master control module controls the steering wheel 321 to work, the steering wheel 321 drives the driving gear 322 to rotate, the driving gear 322 drives the driven gear 323 to rotate, the driven gear 323 drives the clamping mechanism 33 to rotate, and the clamping mechanism 33 drives the hands 36 to rotate, so as to realize the holding and twisting of the pineapples to twist off the connection between the pineapples and the pineapple stems. The receiving space enclosed by the first support 311 and the second support 312 can prevent sundries from affecting the work of the gears. Through the cooperation of the driving gear 322 and the driven gear 323, a larger torque can be provided.

[0056] In other embodiments, the rotating mechanism 32 can also directly drive the clamping mechanism 33 to rotate through the steering wheel 321, as long as the rotation of the clamping mechanism 33 can be realized, which is not specifically limited here.

[0057] In some embodiments, as shown, Figure 4 As shown, the clamping mechanism 33 comprises a stepping motor 331, a mechanical wrist 332, a mechanical arm 333, a driving seat 334, a lead screw 335, a lead screw nut seat 336, a first horizontal bearing 337, a second horizontal bearing 338 and a first optical axis 339, the first horizontal bearing 337 is connected with the first support 311, one end of the first optical axis 339 is connected with the mechanical arm 333, and the other end is connected with the gear coupling of the driven gear 323 through the first horizontal bearing 337, the stepping motor 331 is arranged in the mechanical arm 333, the mechanical wrist 332 is connected with the mechanical arm 333, the second horizontal bearing 338 is arranged in the mechanical wrist 332, one end of the lead screw 335 is connected with the spring coupling of the stepping motor 331 through the second horizontal bearing 338, the lead screw nut seat 336 is connected with the lead screw 335, the driving seat 334 is connected with the lead screw nut seat 336, and one end of the mechanical finger 35 is movably connected with the mechanical wrist 332.

[0058] When the end effector 3 reaches the picking position, the main control module controls the stepping motor 331 to start, and the stepping motor 331 starts to drive the lead screw 335 to rotate, the lead screw 335 drives the lead screw nut seat 336 to move, the lead screw nut seat 336 drives the driving seat 334 to move, the driving seat 334 drives the driving link 34 to move, the driving link 34 drives the mechanical finger 35 to move, and the mechanical finger 35 drives the clamping hand 36 to clamp or release the pineapple.

[0059] Specifically, when the clamping hand 36 needs to clamp the pineapple, the stepping motor 331 rotates forward, so that the driving seat 334 moves towards the direction close to the stepping motor 331, and drives the clamping hand 36 to clamp the pineapple; when the clamping hand 36 needs to release the pineapple, the stepping motor 331 reverses, so that the driving seat 334 moves away from the direction of the stepping motor 331, and drives the clamping hand 36 to release the pineapple.

[0060] In some embodiments, as shown in Figure 4 , the number of clamping hands 36, mechanical fingers 35 and driving links 34 is two, and the two clamping hands 36, two driving links 34 and two mechanical fingers 35 are symmetrically distributed along the axis of the lead screw 335.

[0061] In some embodiments, as shown in Figure 4 , the shape of the clamping hand 36 matches the outer shape of the pineapple, so that the clamping hand 36 clamps the pineapple more closely, preventing the pineapple from falling when clamping, and specifically, the two clamping hands 36 can be enclosed to form a hexagon or a circle, so as to improve the stability of clamping.

[0062] In some embodiments, the clamping hand 36 is provided with a pressure sensor (not marked), and when the clamping hand 36 clamps the pineapple, the pineapple presses the pressure sensor, and when the pressure sensor is forced to reach a preset threshold, it is determined that the pineapple has been clamped. At this time, the pressure sensor transmits a clamping signal to the main control module, and the main control module receives the clamping signal and controls the stepping motor 331 to stop working.

[0063] In some embodiments, as shown in Figure 4 , Figure 5 and Figure 6As shown, the end effector 3 further comprises a supplementary cutting mechanism 37, the supplementary cutting mechanism 37 comprises a supporting arm 371, a counterweight 372, a second optical axis 373 and a blade 374, one end of the supporting arm 371 is connected with the fixed seat 31, the other end of the supporting arm 371 is provided with a mounting space, the blade 374 is arranged in the mounting space, the supporting arm 371 is provided with a cutting opening 3711, the blade 374 can be exposed to the cutting opening 3711, the second optical axis 373 is connected with the blade 374, the second optical axis 373 is movably connected with the supporting arm 371 and the counterweight 372, the counterweight 372 is provided with a cutting path limiting groove 3721, the second optical axis 373 is located in the cutting path limiting groove 3721, the second optical axis 373 can move along the cutting path limiting groove 3721, under the action of gravity, the counterweight 372 closes the cutting opening 3711, when the pineapple is twisted, the pineapple stem can lift the counterweight 372 into the cutting opening 3711, in the process of lifting the counterweight 372, the second optical axis 373 moves from one end to the other end of the cutting path limiting groove 3721, driving the blade 374 into the cutting opening 3711 to cut the pineapple stem.

[0064] By setting the supplementary cutting mechanism 37, when the pineapple cannot be separated from the pineapple stem by twisting, the supplementary cutting mechanism 37 can cut the connection between the pineapple and the pineapple stem, specifically, under the action of gravity, the counterweight 372 closes the cutting opening 3711, when the pineapple is twisted, the pineapple stem is bent, the cutting opening 3711 is located on the bending path of the pineapple stem, the pineapple stem can lift the counterweight 372 into the cutting opening 3711, in the process of lifting the counterweight 372, the second optical axis 373 moves from one end to the other end of the cutting path limiting groove 3721, driving the blade 374 into the cutting opening 3711 to cut the pineapple stem. Through this setting, the blade 374 is only exposed when the pineapple stem lifts the counterweight 372, improving the safety performance.

[0065] In some embodiments, as shown in Figure 4 , Figure 5 and Figure 6 , the supplementary cutting mechanism 37 is located on one side of the hand 36, so that when the pineapple is twisted, the pineapple stem can be supplemented and cut, specifically, the supplementary cutting mechanism 37 is located outside the bending direction of the pineapple stem.

[0066] In some embodiments, as shown in Figure 5 and Figure 6As shown, the second optical axis 373 and the blade 374 are respectively provided with two, the counterweight 372 is provided with two cutting path limiting grooves 3721, and the two second optical axes 373 and the two cutting path limiting grooves 3721 are respectively arranged correspondingly. The cutting path limiting groove 3721 is arranged obliquely, the extension direction of the cutting path limiting groove 3721 and the gravity direction form an included angle, when the counterweight 372 is not lifted, the second optical axis 373 is located at one end of the cutting path limiting groove 3721, when the pineapple stem lifts the counterweight 372 to enter the cutting port 3711, the counterweight 372 is lifted to drive the second optical axis 373 to move along the cutting path limiting groove 3721, the second optical axis 373 moves from one end of the cutting path limiting groove 3721 to the other end, the second optical axis 373 drives the blade 374 to move, and the blade 374 moves into the cutting port 3711 to complete the supplementary cutting of the pineapple stem.

[0067] In some embodiments, the support arm 371 is provided with an arc-shaped groove (not shown), and the blade 374 is an arc-shaped blade 374. The second optical axis 373 can move along the arc-shaped groove in an arc-shaped track when the configuration block drives the second optical axis 373 to move, and drives the blade 374 to enter the cutting port 3711.

[0068] In some embodiments, the supplementary cutting mechanism 37 can also be a blade 374 arranged on the pineapple stem bending path, and can also complete the supplementary cutting of the pineapple stem. However, the direct exposure of the blade 374 may have safety hazards. The supplementary cutting mechanism 37 can also be arranged in other ways as long as it can achieve the supplementary cutting of the pineapple stem, and is not limited herein.

[0069] In some embodiments, as shown in the figure, Figure 3 As shown, the Core XYZ system 2 comprises a support, a sliding block 22, a sliding rail 23, an X-axis ball screw mechanism 24, a Y-axis ball screw mechanism 25, and a Z-axis ball screw mechanism 26. The support frame 21 is connected with the machine body support 1. The Y-axis ball screw mechanism 25 and the sliding rail 23 are arranged on the support frame 21 respectively. The Y-axis ball screw mechanism 25 is arranged in parallel with the sliding rail 23. The sliding block 22 is connected with the sliding rail 23 in a sliding mode. One end of the X-axis ball screw mechanism 24 is connected with the sliding table of the Y-axis ball screw mechanism 25, and the other end is connected with the sliding block 22. The Z-axis ball screw mechanism 26 is connected with the sliding table of the X-axis ball screw mechanism 24. The end effector 3 is connected with the sliding table of the Z-axis ball screw mechanism 26. The main control module is electrically connected with the X-axis ball screw mechanism 24, the Y-axis ball screw mechanism 25, and the Z-axis ball screw mechanism 26 respectively.

[0070] The Core XYZ system 2, also referred to as a core coordinate system, can accurately move to a specified position according to a spatial coordinate, and through accurate positioning and control, the end effector 3 can be moved to a picking position, ensuring that the machine can accurately and efficiently position and pick pineapples.

[0071] In some embodiments, the X-axis ball screw mechanism 24, the Y-axis ball screw mechanism 25, and the Z-axis ball screw mechanism 26 are each provided with a screw rod motor, a driving screw rod, and a sliding table. The main control module is electrically connected to the screw rod motor. The main control module controls the screw rod motor to start. The screw rod motor drives the driving screw rod to rotate, so that the sliding table moves along the driving screw rod to a position marked by the spatial coordinate.

[0072] In some embodiments, as shown in Figure 1 and Figure 2 , the body support 1 is provided with two Core XYZ systems 2 and two end effectors 3 to achieve double-row simultaneous picking and improve picking efficiency.

[0073] In some embodiments, as shown in Figure 1 and Figure 2 , the intelligent pineapple picking machine further comprises a lifting mechanism 5. The body support 1 comprises an upper support 11 and a lower support 12. The upper support 11 is slidably connected to the lower support 12. The lifting mechanism 5 comprises an upper load platform 51, a lower load platform 52, and an electric push rod 53. The upper load platform 51 is connected to the upper support 11. The lower load platform 52 is connected to the lower support 12. The electric push rod 53 is connected to the upper load platform 51. The push rod end of the electric push rod 53 abuts against the lower load platform 52. The vision module, the main control module, the Core XYZ system 2, and the conveying mechanism 4 are arranged on the upper support 11. The electric push rod 53 is electrically connected to the main control module. The vision module identifies the height of the pineapple plant and transmits it to the main control module. The main control module controls the electric push rod 53 to extend according to the height of the pineapple plant to raise the upper support 11, avoiding the body support 1 from touching the pineapple plant during movement.

[0074] By setting the lifting mechanism 5, the height of the upper support 11 can be adjusted according to the height of the pineapple plant to adapt to different pineapple fields and different growth conditions. When the push rod end is extended, the upper support 11 is lifted, achieving the requirement of cross-row picking of pineapples.

[0075] In some embodiments, as shown in Figure 1 and Figure 2 , the base of the electric push rod 53 is mounted to the upper load platform 51. The push rod end of the electric push rod 53 is provided with a push rod flat bottom plate. The push rod flat bottom plate is connected to the lower load platform 52 to ensure the stability of the lifting process.

[0076] In some embodiments, asFigure 1 and Figure 2 As shown in

[0077] In some embodiments, the support frame 21 is part of the upper support 11.

[0078] In some embodiments, as shown in Figure 1 and Figure 2 As shown in

[0079] The vision module determines the maturity of the pineapples according to their color and outputs classification data to the main control module, which receives the classification data and controls the classification servo 44 to deflect, causing the pineapples on the classification platform 43 to fall into the corresponding collection basket 45, saving time and improving work efficiency.

[0080] In some embodiments, as shown in Figure 1 and Figure 2 As shown in

[0081] In some embodiments, as shown in Figure 1 , Figure 2 and Figure 7As shown, the intelligent pineapple picking machine further comprises a suspension mechanism 6, which comprises an upper support 61, a lower support 62, a shock absorber 63 and a speed reducer motor 64; the upper support 61 is connected with the body support 1, one end of the shock absorber 63 is connected with the upper support 61, the other end is connected with the lower support 62, the upper support 61 is slidingly connected with the lower support 62, the speed reducer motor 64 is connected with the lower support 62, the speed reducer motor 64 is electrically connected with the main control module, and the output end of the speed reducer motor 64 is connected with the wheel 13 of the body support 1.

[0082] By arranging the suspension mechanism 6, the pineapple picking machine can adapt to various complex terrains to some extent, so that the picking work can be carried out more smoothly.

[0083] In some embodiments, the lower support 62 is provided with a sliding rail (not shown), and the upper support 61 is provided with a sliding block (not shown), which can slide along the sliding rail, and the sliding direction of the sliding block is the same as the shock absorbing direction of the shock absorber 63.

[0084] In some embodiments, the shock absorber 63 is a spring shock absorber, and in other embodiments, other types of shock absorbers 63 or shock absorbing materials can also be selected as long as they have the function of shock absorption, which is not limited here.

[0085] In some embodiments, the shock absorber 63 is provided with two.

[0086] In some embodiments, the speed reducer motor 64 is fixed to the lower support 62 through a connecting plate 65, the upper support 61 is fixed to the lower support 12 of the body support 1, and the speed reducer motor 64 is a 24V DC speed reducer motor 64.

[0087] In some embodiments, the main control module adopts an STM32F407VGT6 controller, the stepping motor 331 is a 24V two-phase four-wire stepping motor 331, the steering wheel 321 is a 25KG analog steering wheel, the visual module adopts a K210 camera, and the communication between each module and each mechanism can be carried out through Bluetooth and 2.4G wireless data transmission modules.

[0088] The whole pineapple picking machine is intelligently controlled through the main control module. The main control module connects the suspension mechanism 6, the lifting mechanism 5, the Core XYZ system 2, the end execution mechanism 3, the conveying mechanism 4, the visual module and other parts to realize their collaborative work. According to the feedback data of the visual module, the main control module can intelligently adjust the position of the pineapple picking machine, so that the end execution mechanism 3 can accurately clamp and pick pineapples. At the same time, intelligent control also includes the collaborative operation of the lifting of the body support 1, the stability of the suspension mechanism 6, the conveying and classification of each link, to ensure that the whole picking process is smooth, efficient and accurate.

[0089] The application also provides a picking method of an intelligent pineapple picking machine based on a Core XYZ system 2 and machine vision, which comprises the following steps: the vision module identifies the spatial position information of the pineapple and transmits the spatial position information to the main control module, the main control module can convert the spatial position information into spatial coordinates; the main control module drives the machine body support 1 to move to the vicinity of the pineapple according to the spatial coordinates; the main control module drives the Core XYZ system 2 to move to a specified position according to the spatial coordinates, the Core XYZ system 2 drives the end execution mechanism 3 to reach the picking position, the main control module controls the end execution mechanism 3 to clamp the pineapple, and the main control module can control the end execution mechanism 3 to rotate to achieve the purpose of holding and twisting the pineapple; after the pineapple is picked, the main control module controls the Core XYZ system 2 to move, the Core XYZ system 2 drives the end execution mechanism 3 to move the pineapple to the conveying mechanism 4, the main control module controls the end execution mechanism 3 to release the pineapple so that the pineapple falls to the conveying mechanism 4, and the conveying mechanism 4 can convey the pineapple to a collection area.

[0090] The picking method of the embodiment can accurately identify the spatial position information of the pineapple through the vision module, and the Core XYZ system 2 drives the end picking mechanism to accurately reach the picking position, thereby greatly improving the accuracy of pineapple picking.

[0091] In some embodiments, when the vision module identifies the pineapple, the vision module feeds back the spatial position information of the pineapple to the main control device, and the main control module drives the machine body support 1 to move according to the spatial position information. After the pineapple picking machine reaches the pineapple soil ridge, the pineapple picking machine realizes automatic calibration, so that the center of the machine body support 1 is aligned with the center of the soil ridge. The vision module identifies the height of the pineapple plant in front, the lifting mechanism 5 lifts the upper support 11 to a height at which the pineapple picking machine can completely cross the pineapple soil ridge, and the upper support 11 will not touch the height of the pineapple plant during the travel process. When the required height is reached, the electric push rod 53 self-locks the height of the upper support 11.

[0092] When the center of the pineapple picking machine is aligned with the center of the soil ridge and the upper support 11 reaches the required height, first, the vision module identifies the spatial position information of the pineapple and converts it into spatial coordinates, and the main control module drives the X-axis ball screw mechanism 24, the Y-axis ball screw mechanism 25 and the Z-axis ball screw mechanism 26 to move to the specified position according to the spatial coordinates, so as to drive the end execution mechanism 3 to the picking position.

[0093] When the end effector 3 reaches the picking position, i.e., the hands 36 are located at the periphery of the pineapple, the main control module controls the stepping motor 331 to start, the stepping motor 331 drives the screw rod 335 to rotate, the screw rod 335 rotates to drive the screw nut seat 336 to move linearly along the screw rod 335, the screw nut seat 336 drives the driving seat 334 to move linearly, when the stepping motor 331 rotates in the positive direction, the driving seat 334 moves towards the direction close to the stepping motor 331, the driving seat 334 moves to drive the driving connecting rod 34 to move, the driving connecting rod 34 moves to drive the hands 36 to clamp the pineapple, at this time, the main control module controls the steering engine 321 to start, the steering engine 321 drives the driving gear 322 to rotate, the driving gear 322 drives the driven gear 323 to rotate, the driven gear 323 drives the clamping mechanism 33 to rotate, so that the hands 36 clamps the pineapple to rotate, and the pineapple is separated from the pineapple stem to achieve the clamping and twisting of the pineapple.

[0094] When the hands 36 clamps and twists the pineapple, the pineapple stem can push up the counterweight 372 to enter the cutting opening 3711, in the process of pushing up the counterweight 372, the second optical axis 373 moves from one end to the other end of the cutting path limiting groove 3721, and drives the blade 374 to enter the cutting opening 3711 to perform supplementary cutting on the pineapple stem.

[0095] When the clamping and twisting of the pineapple is completed, the main control module controls the Core XYZ system 2 to drive the end effector 3 to move above the conveying mechanism 4, the stepping motor 331 reverses to release the hands 36, the pineapple falls to the inclined platform 41, and then rolls to the conveying belt assembly 42 through the inclined platform 41, the conveying belt assembly 42 conveys the pineapple to the classification platform 43, the visual module judges the maturity of the pineapple according to the color of the pineapple and outputs classification data to the main control module, the main control module receives the classification data and controls the classification steering engine 44 to deflect, so that the pineapple on the classification platform 43 falls towards the corresponding collection basket 45, and simple classification is completed.

[0096] As described above, the present application can be better implemented, and the above-mentioned embodiments are only preferred embodiments of the present application, but not to limit the scope of the present application; that is, all equivalent changes and modifications made according to the content of the present application are covered by the scope of the claims of the present application.

Claims

1. An intelligent pineapple harvesting machine based on the Core XYZ system and machine vision, characterized in that, include: A movable frame; A vision module, which is mounted on the machine body support, is used to identify the spatial position of the pineapple; The main control module is mounted on the machine body support and is electrically connected to the vision module. The vision module can identify the spatial position information of the pineapple and transmit the spatial position information to the main control module. The main control module can convert the spatial position information into spatial coordinates. The machine body support is electrically connected to the main control module, and the main control module drives the machine body support to move according to the spatial coordinates. The Core XYZ system is mounted on the chassis support. The main control module is electrically connected to the Core XYZ system and drives the Core XYZ system to a designated position according to spatial coordinates. An end effector is provided, which is connected to the Core XYZ system. The Core XYZ system can drive the end effector to the picking position. The end effector is electrically connected to the main control module. The main control module controls the end effector to clamp or release the pineapple, and the end effector can rotate to achieve pineapple clamping and twisting. A conveying mechanism is connected to the body support. The Core XYZ system can drive the end effector to move the pineapple to the conveying mechanism, and the conveying mechanism can convey the pineapple to the collection area. The end effector includes a fixed base, a rotating mechanism, a clamping mechanism, a drive linkage, a mechanical finger, and a gripper. The fixed base is connected to the Core XYZ system. The rotating mechanism is mounted on the fixed base. The clamping mechanism is movably connected to the rotating mechanism and can drive the clamping mechanism to rotate. One end of the mechanical finger is movably connected to the clamping mechanism, and the other end is connected to the gripper. One end of the drive linkage is movably connected to the drive seat of the clamping mechanism, and the other end is movably connected to the mechanical finger. The clamping mechanism can drive the gripper to clamp or release. The main control module is electrically connected to the clamping mechanism and the rotating mechanism. The end effector further includes a supplementary cutting mechanism, which includes a support arm, a counterweight, a second optical axis, and a blade. One end of the support arm is connected to the fixed base, and the other end of the support arm has an installation space. The blade is located in the installation space, and the support arm has a cutting opening that exposes the blade. The second optical axis is connected to the blade and is movably connected to the support arm and the counterweight. The counterweight has a cutting path limiting groove, and the second optical axis is located in the cutting path limiting groove. The second optical axis can move along the cutting path limiting groove. Under the action of gravity, the counterweight closes the cutting opening. When the pineapple is twisted, the pineapple stem can lift the counterweight and enter the cutting opening. During the process of the counterweight being lifted, the second optical axis moves from one end of the cutting path limiting groove to the other end, driving the blade into the cutting opening to cut the pineapple stem.

2. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 1, characterized in that, The fixed base includes a first support member and a second support member connected to each other, the first support member and the second support member forming a receiving space, the second support member being connected to the Core XYZ system, the rotating mechanism including a servo motor, a drive gear and a driven gear, the drive gear and the driven gear being located within the receiving space, the servo motor being connected to the first support member, the servo motor being connected to the drive gear via a gear coupling, the drive gear meshing with the driven gear, the driven gear being connected to the clamping mechanism via a gear coupling, and the servo motor being electrically connected to the main control module.

3. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 2, characterized in that, The clamping mechanism includes a stepper motor, a robotic wrist, a robotic arm, a drive base, a lead screw, a lead screw nut seat, a first horizontal bearing, a second horizontal bearing, and a first optical shaft. The first horizontal bearing is connected to the first support member. One end of the first optical shaft is connected to the robotic arm, and the other end is connected to the gear coupling of the driven gear through the first horizontal bearing. The stepper motor is located inside the robotic arm. The robotic wrist is connected to the robotic arm. The second horizontal bearing is located on the robotic wrist. One end of the lead screw is connected to the spring coupling of the stepper motor through the second horizontal bearing. The lead screw nut seat is connected to the lead screw. The drive base is connected to the lead screw nut seat. One end of the robotic finger is movably connected to the robotic wrist.

4. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 1, characterized in that, The Core XYZ system includes a support frame, a slider, a slide rail, an X-axis ball screw mechanism, a Y-axis ball screw mechanism, and a Z-axis ball screw mechanism. The support frame is connected to the machine body support. The Y-axis ball screw mechanism and the slide rail are respectively mounted on the support frame and are parallel to each other. The slider is slidably connected to the slide rail. One end of the X-axis ball screw mechanism is connected to the slide table of the Y-axis ball screw mechanism, and the other end is connected to the slider. The Z-axis ball screw mechanism is connected to the slide table of the X-axis ball screw mechanism. The end effector is connected to the slide table of the Z-axis ball screw mechanism. The main control module is electrically connected to the X-axis ball screw mechanism, the Y-axis ball screw mechanism, and the Z-axis ball screw mechanism.

5. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 1, characterized in that, It also includes a lifting mechanism. The machine body support includes an upper support and a lower support, which are slidably connected. The lifting mechanism includes an upper load-bearing platform, a lower load-bearing platform, and an electric push rod. The upper load-bearing platform is connected to the upper support, the lower load-bearing platform is connected to the lower support, and the electric push rod is connected to the upper load-bearing platform. The push rod end of the electric push rod abuts against the lower load-bearing platform. The vision module, main control module, Core XYZ system, and conveying mechanism are located on the upper support.

6. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 1, characterized in that, The conveying mechanism includes a tilting platform, a conveyor belt assembly, a sorting platform, a sorting servo, and a collection basket. The tilting platform is mounted on the body support, with its bottom located at one end of the conveyor belt assembly. The sorting platform is located at the other end of the conveyor belt assembly. The sorting servo is connected to the body support and the sorting platform. The collection area is located on both sides of the sorting platform, and the collection basket is placed in the collection area. The sorting servo is electrically connected to the vision module and the main control module, and can control the sorting platform to deflect laterally.

7. The intelligent pineapple harvesting machine based on the Core XYZ system and machine vision as described in claim 1, characterized in that, It also includes a suspension mechanism, which comprises an upper support, a lower support, a shock absorber, and a geared motor; the upper support is connected to the body frame, one end of the shock absorber is connected to the upper support and the other end is connected to the lower support, the upper support and the lower support are slidably connected, the geared motor is connected to the lower support, the geared motor is electrically connected to the main control module, and the output end of the geared motor is connected to the wheel of the body frame.

8. The harvesting method of the intelligent pineapple harvesting machine based on the Core XYZ system and machine vision according to any one of claims 1-7, characterized in that, include: The vision module identifies the spatial location information of the pineapple and transmits it to the main control module. The main control module converts the spatial location information into spatial coordinates. Based on the spatial coordinates, the main control module drives the machine support to move near the pineapple. Based on the spatial coordinates, the main control module drives the Core XYZ system to move to a designated position. The Core XYZ system drives the end effector to the picking position. The main control module controls the end effector to clamp the pineapple and can control the end effector to rotate to achieve a pineapple-twisting action. After the pineapple is picked, the main control module controls the Core XYZ system to move. The Core XYZ system drives the end effector to move the pineapple to the conveying mechanism. The main control module controls the end effector to release the pineapple so that it falls to the conveying mechanism. The conveying mechanism can then transport the pineapple to the collection area.

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