Pineapple picking device and picking method

Abstract

The application discloses a pineapple picking device and a picking method, and relates to the technical field of picking devices, which can realize automatic picking of pineapple fruits and reduce the difficulty and risk of manual operation.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting equipment technology, and in particular to a pineapple harvesting device and harvesting method. Background Technology

[0002] Pineapple is one of the world's major tropical fruits, and global pineapple production has steadily increased in recent years. However, pineapple harvesting still relies heavily on manual labor, presenting challenges such as low efficiency and high costs. With technological advancements, efforts have been made to address these issues by utilizing semi-automatic or robotic harvesting devices. However, these harvesting methods still face the following technical challenges:

[0003] 1. Semi-automatic mechanical harvesting devices still require manual operation, which not only cannot achieve full automation, but also requires intermittent harvesting when picking pineapples, making it impossible to harvest while moving, resulting in low harvesting efficiency. Furthermore, they are only suitable for pineapple fields with specific row spacing and have poor versatility.

[0004] 2. Robotic harvesting devices require operators to control the harvesting claws via a controller, making fully automated harvesting impossible. Due to the dense foliage in the ridges, the fruit may be obscured during harvesting, leading to inaccurate positioning, inability to identify the fruit, and incorrect harvesting. Furthermore, dense foliage may entangle the machine while it is moving, hindering its movement and collection. The fixed wheel track of the harvesting robot is unsuitable for various pineapple fields, resulting in low applicability; it also cannot accurately harvest pineapples with irregular growth patterns.

[0005] Furthermore, none of the aforementioned harvesting devices have modular packaging mechanisms, making it impossible to process the harvested pineapples promptly. This increases labor costs, requiring manual packaging of the harvested pineapples. Additionally, remote monitoring of the harvesting process is not possible. Summary of the Invention

[0006] The purpose of this invention is to provide a pineapple harvesting device and harvesting method.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] A pineapple harvesting device includes a harvesting mechanism body, a visual recognition and positioning module, a harvesting module, a carton forming module, a drive module, and a conveying module; the harvesting module and the visual recognition and positioning module are both located on the front side of the harvesting mechanism body, the drive module is located at the bottom of the harvesting mechanism body, the carton forming module is located on the harvesting mechanism body, and the conveying module is located between the harvesting module and the carton forming module; the harvesting mechanism body has guide shells on both sides;

[0009] The visual recognition and positioning module is used to acquire images of the pineapples to be picked; to acquire the location of the main body of the picking mechanism; to detect obstacles; and to plan the collection path.

[0010] The driving module is used to move the main body of the picking mechanism closer to the pineapple to be picked according to the picking path planned by the visual recognition and positioning module.

[0011] The picking module is used to move to the outside of the pineapple to be picked according to the acquired image to fix the pineapple to be picked, and is also used to rotate and remove the pineapple fruit, and to cut off the crown of the pineapple fruit after it is removed;

[0012] The carton forming module is used to store folded cartons, unfold and glue the folded cartons into shape, and add the formed cartons into the conveying module.

[0013] The conveying module is used to add the harvested pineapples into the formed cardboard boxes, and also to output the cardboard boxes filled with pineapples from one side of the main body of the harvesting mechanism to the outside.

[0014] Preferably, the picking module includes a rotary picking mechanism and a lifting rod, the lifting rod being located on the front side of the main body of the rotary picking component, and the rotary picking mechanism being located at the lifting end of the lifting rod;

[0015] The rotary harvesting mechanism includes two harvesting conveyor belts, which are arranged left and right on the front side of the main body of the harvesting mechanism. The two harvesting conveyor belts are arranged facing each other and can move in a direction that moves closer to or further away from each other, thereby fixing the pineapple to be harvested between the two harvesting conveyor belts. The two harvesting conveyor belts can rotate clockwise or counterclockwise at the same time to realize the rotary extraction of pineapple fruits.

[0016] Preferably, the harvesting module further includes a cutting mechanism, which includes a cutting blade that can extend above the rotary harvesting mechanism.

[0017] Preferably, the picking module further includes a guiding mechanism, which is located in front of the rotary picking mechanism. The guiding mechanism includes two guiding arms and a plurality of pulleys arranged in front and behind the inner sides of the guiding arms. The two guiding arms are respectively located on both sides of the rotary picking mechanism. The guiding arms are arc-shaped, and the distance between the two guiding arms gradually decreases from away from the rotary picking mechanism to close to the rotary picking mechanism.

[0018] Preferably, the conveying module includes a turntable, a fixed base, a roller assembly, a baffle conveyor belt, an output conveyor belt, and a photoelectric sensor. The fixed base is mounted on the main body of the harvesting mechanism. The turntable is rotatably mounted on the fixed base. Multiple notches are evenly distributed on the outer side of the turntable, forming a conveying cavity for accommodating cartons between the notches and the side wall of the fixed base. A fruit inlet is located on the side wall of the fixed base near the baffle conveyor belt, and a carton inlet is located on the side wall of the fixed base near the carton forming module. A carton outlet is located at the bottom of the fixed base, situated on the rotation trajectory of the notches. The starting end of the baffle conveyor belt is located below the rotary harvesting mechanism, and the ending end extends to the fruit inlet. The starting end of the output conveyor belt is located below the carton outlet, and the ending end corresponds to the output port. The photoelectric sensor is located at the end of the baffle conveyor belt and is used to detect the number of pineapples entering the conveying cavity from the baffle conveyor belt.

[0019] Preferably, the carton forming module includes a carton storage cavity, a carton suction cup, a sealing crossbar, a sealing push rod, a scissor push rod, a rolling tape, and a roller structure. The carton storage cavity is used to store folded cartons. The carton suction cup is located on one side of the carton storage cavity and can move towards or away from the carton storage cavity. The sealing crossbar is located on one side of the carton storage cavity and can swing up and down. The sealing push rod is vertically located at both ends of the sealing crossbar and can swing up and down. The scissor push rod is located on one side of the carton suction cup, the rolling tape is located on the other side of the carton suction cup, and the roller structure is located on both sides of the rolling tape.

[0020] The carton suction cup is used to attract and move the folded carton outside the carton storage cavity, causing the folded carton to unfold; the sealing plate swings from bottom to top, causing the short cardboard at the bottom of the carton to close; the sealing push rod swings from bottom to top, causing the long cardboard at the bottom of the carton to close; the scissor push rod pushes the closed carton toward the rolling tape, causing the rolling tape to seal the bottom of the carton; the carton with the bottom sealed is pushed into the conveyor cavity by the scissor push rod.

[0021] Preferably, the drive module includes a track mechanism, a drive motor, and a wheelbase adjustment mechanism, wherein the drive motor is connected to the input end of the track mechanism;

[0022] The wheel track adjustment mechanism includes a fixed bracket, a movable bracket, an adjusting plate, and fasteners. The movable bracket is located on both sides of the fixed bracket, the track mechanism is located on the movable bracket, the adjusting plate is located on the fixed bracket, and the movable bracket is also provided with a connecting rod. The connecting rod is slidably engaged with the adjusting plate, and the fasteners are detachably connected to the connecting rods and the adjusting plate. The fasteners are used to fix the connecting rods and the adjusting plate.

[0023] Preferably, the visual recognition and positioning module includes a binocular camera, a 3D LiDAR, and a BeiDou positioning terminal.

[0024] The present invention also provides a pineapple harvesting method using a pineapple harvesting device, the method comprising the following steps:

[0025] Step 1: Adjust the distance between the track mechanisms on both sides of the drive module to match the wheel track with the spacing of the pineapple field ridges, and add the folded cardboard box into the cardboard box inlet of the cardboard box forming module;

[0026] Step 2: Set the harvesting route;

[0027] Step 3: The carton forming module unfolds the carton and seals its bottom to form the finished carton body;

[0028] Step 4: Identify pineapples in the picking path and determine their ripeness. If the ripeness of the pineapple meets the requirements, set it as a pineapple to be picked and locate the center of the pineapple to be picked.

[0029] Step 5: The picking module approaches and fixes the pineapple to be picked based on the acquired image. After fixing the pineapple, it removes the pineapple fruit by rotating it. Then, the crown of the pineapple fruit is cut off. The pineapple after the crown is cut off is added to the formed cardboard box by the conveying module.

[0030] Repeat steps four and five until the carton is full, then output the carton full of pineapples to the outside of the picking mechanism via the conveyor module;

[0031] Step 6: Repeat step 3 until all pineapples that meet the ripeness requirement along the picking path have been picked.

[0032] Preferably, step two specifically includes: using a visual recognition and positioning module to detect obstacles on the field ridges and using a Beidou positioning terminal to detect the dynamic position of the harvesting device, in order to set the harvesting path plan, and uploading the data to the backend via 5G communication to monitor the actions of the harvesting device, so that the harvesting device can harvest pineapples according to the set field ridge route.

[0033] Step four specifically includes: collecting images of pineapples on-site using a smart vision recognition and positioning module, determining the ripeness of the pineapples and identifying their center position based on a model trained with YOLOv7, and uploading the collected data.

[0034] The beneficial effects of this invention are as follows: By acquiring an image of the pineapple to be harvested through a visual recognition and positioning module, the drive module moves the main body of the harvesting mechanism closer to the pineapple. Based on the acquired image information, the harvesting module moves to the outside of the pineapple to secure it, and then rotates to remove the fruit. This achieves automatic harvesting of pineapples, reducing the difficulty and risk of manual operation. It can also hold pineapples at different growth stages, solving the problem of intermittent harvesting in existing technologies. By setting up a carton forming module and a conveying module, automatic packaging is achieved, giving the device an integrated harvesting and packaging function, greatly reducing labor costs. The main body of the harvesting mechanism adopts a raised bed structure, facilitating movement across various pineapple ridges. The streamlined guide shell on the outside of the main body guides the plants and leaves, reducing movement resistance, ensuring smooth operation, and protecting the plants and leaves. Attached Figure Description

[0035] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0036] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the internal structure of one embodiment of the present invention;

[0038] Figure 3 This is a top view of one embodiment of the present invention;

[0039] Figure 4 This is an external schematic diagram of the main body of the harvesting mechanism according to one embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the harvesting module according to one embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the structure of the conveying module according to one embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the structure of a driver module according to one embodiment of the present invention;

[0043] Figure 8 This is a schematic diagram of the wheel track adjustment mechanism according to one embodiment of the present invention.

[0044] The components include: main body of the harvesting mechanism 17, guide shell 19, adjustment plate 24, fixed bracket 20, guide mechanism 2, pulley 3, rotary harvesting mechanism 4, cutting blade 5, lifting rod 1, binocular camera 6, carton storage cavity 8, cover 27, carton suction cup 9, sealing cross plate 10, scissor push rod 11, rolling tape 13, turntable 14, roller structure 18, sealing push rod 26, output port 15, output conveyor belt 16, baffle conveyor belt 7, connecting rod 21, track section 22, drive motor 23, track mechanism 12, 3D laser radar 28, Beidou positioning terminal 29, and photoelectric sensor 25. Detailed Implementation

[0045] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] This embodiment provides a pineapple harvesting device, see attached diagram. Figure 1-4 The system includes a main body 17 for harvesting, a visual recognition and positioning module, a harvesting module, a carton forming module, a drive module, and a conveying module. The harvesting module and the visual recognition and positioning module are located on the front side of the main body 17 for harvesting, the drive module is located at the bottom of the main body 17 for harvesting, the carton forming module is located on the main body 17 for harvesting, and the conveying module is located between the harvesting module and the carton forming module. The main body 17 for harvesting has guide shells 19 on both sides.

[0047] The visual recognition and positioning module is used to acquire images of the pineapples to be picked; to acquire the positioning position of the main body 17 of the picking mechanism; to detect obstacles; and to plan the picking path.

[0048] The drive module is used to move the main body 17 of the picking mechanism to a position close to the pineapple to be picked according to the picking path planned by the visual recognition and positioning module;

[0049] The picking module is used to move to the outside of the pineapple to be picked based on the acquired image to fix the pineapple to be picked. It is also used to rotate and remove the pineapple fruit, and to cut off the crown of the pineapple fruit after it has been picked.

[0050] The carton forming module is used to store folded cartons, unfold and glue the folded cartons into shape, and add the formed cartons into the conveying module.

[0051] The conveying module is used to add the harvested pineapples into the formed cardboard boxes, and also to output the cardboard boxes filled with pineapples from one side of the main body 17 of the harvesting mechanism to the outside.

[0052] The visual recognition and positioning module acquires an image of the pineapple to be harvested, which drives the main body 17 of the harvesting mechanism to move closer to the pineapple. Based on the acquired image information, the harvesting module moves to the outside of the pineapple to secure it, then rotates to remove the fruit. This achieves automated pineapple harvesting, reducing the difficulty and risk of manual operation. It can hold pineapples at different growth stages, solving the problem of intermittent harvesting required in existing technologies. By incorporating a carton forming module and a conveying module, automatic packaging is achieved, giving the device integrated harvesting and packaging functions, significantly reducing labor costs. The main body 17 of the harvesting mechanism adopts a raised bed structure, facilitating movement across various pineapple ridges. A streamlined guide shell 19 on the outside of the main body 17 guides the plants and leaves, reducing movement resistance, ensuring smooth operation, and protecting the plants and leaves.

[0053] Preferred options are listed in the appendix. Figure 5 The picking module includes a rotary picking mechanism 4 and a lifting rod 1. The lifting rod 1 is located on the front side of the main body of the rotary picking component, and the rotary picking mechanism is located at the lifting end of the lifting rod 1.

[0054] The rotary harvesting mechanism 4 includes two fruit fixing modules and two harvesting conveyor belts. The two fruit fixing modules are arranged on the left and right sides of the front of the main body 17 of the harvesting mechanism. The two harvesting conveyor belts are respectively arranged at the moving ends of the two fruit fixing modules. The two harvesting conveyor belts are arranged facing each other. The two fruit fixing modules drive the two harvesting conveyor belts to move in a direction that is closer to each other or further away from each other, so that the pineapple to be harvested is fixed between the two harvesting conveyor belts. After the pineapple to be harvested is fixed, the two harvesting conveyor belts rotate forward or reverse at the same time to realize the rotary extraction of the pineapple fruit.

[0055] By adjusting the distance between the two harvesting conveyor belts using the fruit-fixing module, the pineapple to be harvested is clamped on both sides, thus securing it. After securing, the harvesting conveyor belts can rotate simultaneously in either forward or reverse direction, enabling telescopic twisting harvesting. This method is suitable for harvesting pineapples of different sizes and varieties. Because the two harvesting conveyor belts clamp the pineapple on both sides, the rotary twisting harvesting can be carried out simultaneously with the device's movement, achieving uninterrupted harvesting. A lifting rod 1 is used to move the rotary harvesting mechanism 4 to the position of the pineapple to be harvested, increasing the flexibility and adaptability of the harvesting process.

[0056] Furthermore, the harvesting module also includes a cutting mechanism, which includes an extension cylinder, a cutting motor, and a cutting blade 5. The cutting blade 5 is located at the shaft end of the cutting motor, the extension cylinder is located at the lifting end of the lifting rod 1, and the extension cylinder is located above the rotary harvesting mechanism 4. The cutting motor is located at the extension end of the extension rod.

[0057] The cutting motor is located at the extended end of the extension rod. After the rotary picking mechanism 4 removes the pineapple, the cutting motor drives the cutting blade 5 to rotate. At the same time, the extension cylinder extends the cutting motor and the cutting blade 5. Since the two picking conveyor belts are still clamping the pineapple at this time, the pineapple crown can be cut, which facilitates the subsequent packing of the pineapple and saves storage space.

[0058] Preferably, the picking module also includes a guide mechanism 2, which is located in front of the rotary picking mechanism 4. The guide mechanism 2 includes two guide arms and multiple pulleys 3 arranged on the inner side of the guide arms. The two guide arms are respectively located on both sides of the rotary picking mechanism 4. The guide arms are arc-shaped, and the distance between the two guide arms gradually decreases from away from the rotary picking mechanism 4 to close to the rotary picking mechanism 4.

[0059] By placing two arc-shaped guide arms on either side of the rotary harvesting mechanism 4, the distance between the two guide arms gradually decreases from farther away from the rotary harvesting mechanism 4 to closer to it. This guides pineapples of different shapes and sizes towards the two harvesting conveyor belts of the rotary harvesting mechanism 4, facilitating the securing of the pineapples by the conveyor belts and improving the accuracy and efficiency of pineapple harvesting. Multiple pulleys 3 are placed inside the guide arms to reduce friction between the guide arms and the pineapples. In some embodiments, the pulleys 3 can be configured as drive wheels to propel the pineapples into the harvesting conveyor belts.

[0060] Preferred options are listed in the appendix. Figure 6 The conveying module includes a turntable 14, a fixed base, a roller assembly, a baffle conveyor belt 7, an output conveyor belt 16, and a photoelectric sensor 25. The fixed base is mounted on the main body 17 of the picking mechanism. The turntable 14 is rotatably mounted on the fixed base. Multiple notches are evenly distributed on the outer side of the turntable 14. The notches and the side wall of the fixed base form a conveying cavity that can accommodate cartons. A fruit inlet is provided on the side wall of the fixed base near the baffle conveyor belt 7. A carton inlet is provided on the side wall of the fixed base near the carton forming module. A carton outlet is provided at the bottom of the fixed base. The carton outlet is located on the rotation trajectory of the notches. The beginning of the baffle conveyor belt 7 is located below the rotary picking mechanism 4. The end of the baffle conveyor belt 7 extends to the fruit inlet. The beginning of the output conveyor belt 16 is located below the carton outlet. The end of the output conveyor belt 16 corresponds to the output port 15. The photoelectric sensor 25 is located at the end of the baffle conveyor belt 7. The photoelectric sensor 25 is used to detect the number of pineapples entering the conveying cavity from the baffle conveyor belt 7.

[0061] By rotating the turntable 14 onto the fixed base, multiple notches are evenly provided on the outer side of the turntable 14. A conveying cavity that can accommodate cartons is formed between the notches and the side wall of the fixed base. Each conveying cavity can accommodate a single carton.

[0062] The cardboard box is formed by the cardboard box forming module and added to one of the conveying chambers. With the rotation of the turntable 14, the conveying chamber containing the cardboard box is moved closer to the fruit inlet. The pineapple fruit is picked by the rotary picking mechanism 4, passes through the baffle conveyor belt 7 and the fruit inlet, and falls into the cardboard box in the conveying chamber. At this time, the photoelectric sensor 25 calculates the number of pineapples in each cardboard box. When the number of pineapples reaches a set value, the turntable 14 continues to rotate, moving the conveying chamber above the boxing outlet. The cardboard box filled with pineapples then falls onto the output conveyor belt 16 through the boxing outlet, and is subsequently output to the main body 17 of the picking mechanism, completing the automatic picking and automatic boxing of one box of pineapples. Therefore, by setting up the conveying module, not only is automatic boxing of pineapples achieved, but the processes of cardboard box forming, pineapple picking, and pineapple boxing are also made independent, avoiding interference between their respective actions and improving picking efficiency. Through the cooperation of turntable 14, baffle conveyor belt 7, output conveyor belt 16 and photoelectric sensor 25, the functions of fast and accurate conveying and box counting of pineapples are realized, which improves the efficiency of harvesting and the quality of the fruit.

[0063] Preferably, the carton forming module includes a carton storage cavity 8, a carton suction cup 9, a sealing crossbar 10, a sealing push rod 26, a scissor push rod 11, a rolling tape 13, and a roller structure 18. The carton storage cavity 8 is used to store folded cartons. The carton suction cup 9 is located on one side of the carton storage cavity 8 and can move towards or away from the carton storage cavity 8. The sealing crossbar 10 is located on one side of the carton storage cavity 8 and can swing up and down. The sealing push rod 26 is vertically located at both ends of the sealing crossbar 10 and can swing up and down. The scissor push rod 11 is located on one side of the carton suction cup 9, the rolling tape 13 is located on the other side of the carton suction cup 9, and the roller structure 18 is located on both sides of the rolling tape 13.

[0064] The carton suction cup 9 is used to attract and move the folded carton to the outside of the carton storage cavity 8, so that the folded carton can be unfolded; the sealing plate 10 swings from bottom to top to drive the short cardboard at the bottom of the carton to close; the sealing push rod 26 swings from bottom to top to drive the long cardboard at the bottom of the carton to close; the scissor push rod 11 pushes the closed carton to the rolling tape 13, so that the rolling tape 13 seals the bottom of the carton; the carton with the bottom sealed is pushed into the conveyor cavity by the scissor push rod 11.

[0065] In this embodiment, the carton forming module places folded cartons into the carton storage cavity 8. The carton storage cavity 8 is equipped with a removable cover 27. Folding the cartons reduces storage space and increases the number of cartons that can be stored. It also allows for the storage of more pineapples, reducing the frequency of adding cartons and thus saving downtime and improving harvesting efficiency. After the carton suction cup 9 pulls the folded carton out and unfolds it, the two sealing plates 10 at the bottom of the carton first open, closing the short cardboard at the bottom. Then, the two sealing push rods 26 open, closing the long cardboard at the bottom. The scissor-type push rod 11 opens inward, and the spring-loaded rolling adhesive tape 13 automatically adheres to the bottom of the carton according to the carton's movement. This achieves automatic unfolding and sealing of the carton, realizing automatic carton forming.

[0066] Preferred options are listed in the appendix. Figure 7 and 8 The drive module includes a track mechanism 12, a drive motor 23 and a wheel track adjustment mechanism. The drive motor 23 is connected to the input end of the track mechanism 12, thereby driving the track section 22 to roll.

[0067] The wheel track adjustment mechanism includes a fixed bracket 20, a movable bracket, an adjusting plate 24, and fasteners. The movable bracket is located on both sides of the fixed bracket 20. The track mechanism 12 is located on the movable bracket. The adjusting plate 24 is located on the fixed bracket 20. The movable bracket is also provided with a connecting rod 21. The connecting rod 21 is slidably engaged with the adjusting plate 24. The fasteners are detachably connected to the connecting rod 21 and the adjusting plate 24. The fasteners are used to fix the connecting rod 21 and the adjusting plate 24.

[0068] By installing a tracked mechanism 12 on the main body 17 of the harvesting mechanism and driving it to roll via a drive motor 23, the device can move smoothly across the field ridges, adapting to different terrains and soil conditions and improving its adaptability and stability. The adjusting plate 24 has four screw holes. To adjust the wheel track, the fasteners can be loosened, and then the connecting rod 21 can be pushed to move the moving bracket relative to the fixed bracket 20, thus adjusting the distance between the two tracked mechanisms 12. When the screw holes on the connecting rod 21 align with the screw holes on the adjusting plate 24, the fasteners are tightened to adjust and fix the wheel track. Therefore, by setting a wheel track adjustment mechanism, the wheel track between the two tracked mechanisms 12 can be adjusted according to the actual usage scenario, making it suitable for pineapple fields with different planting widths and highly versatile. Furthermore, the four-wheel tracked tires can adapt to various rugged terrains.

[0069] Preferably, the visual recognition and positioning module includes a binocular camera 6, a 3D LiDAR 28, and a BeiDou positioning terminal 29. By acquiring images of the pineapple to be harvested through the binocular camera 6, image processing and recognition technologies can accurately identify information such as the pineapple's location and size. The 3D LiDAR 28 can quickly acquire three-dimensional information about the surrounding environment, including terrain and obstacles, facilitating obstacle avoidance in the field and providing accurate positioning and navigation information for the device, making the planned harvesting route more reasonable. The BeiDou positioning terminal 29 provides high-precision positioning services, enabling operators to determine the precise location and movement trajectory of the device during the harvesting process.

[0070] This embodiment also provides a pineapple harvesting method using a pineapple harvesting device, the method comprising the following steps:

[0071] Step 1: Adjust the distance between the track mechanisms on both sides of the drive module to match the wheel track with the spacing of the pineapple field ridges, and add the folded cardboard box into the cardboard box inlet of the cardboard box forming module;

[0072] Step 2: By using a visual recognition and positioning module to detect obstacles on the field ridges and a Beidou positioning terminal to detect the dynamic position of the harvesting device, a harvesting path is planned. The data is then uploaded to the backend via 5G communication to monitor the actions of the harvesting device and ensure that the harvesting device harvests pineapples according to the set field ridge route.

[0073] Step 3: The carton forming module unfolds the carton and seals its bottom to form the finished carton body;

[0074] Step 4: The intelligent vision recognition and positioning module collects images of the pineapples on-site. Based on a model trained with YOLOv7, it determines the ripeness of the pineapples and identifies their center position. The collected data is then uploaded.

[0075] Step 5: The picking module approaches and fixes the pineapple to be picked based on the acquired image. After fixing the pineapple, it removes the pineapple fruit by rotating it. Then, the crown of the pineapple fruit is cut off. The pineapple after the crown is cut off is added to the formed cardboard box by the conveying module.

[0076] Repeat steps four and five until the carton is full, then output the carton full of pineapples to the outside of the main body 17 of the picking mechanism via the conveying module;

[0077] Step 6: Repeat step 3 until all pineapples that meet the ripeness requirement along the picking path have been picked.

[0078] The harvesting method of the harvesting device in this embodiment is fully automated and modular. It is equipped with a YOLOv7-based intelligent recognition system to achieve automatic harvesting. At the same time, it innovatively adds an automatic packaging function to achieve integrated harvesting and packaging, which greatly reduces labor costs.

[0079] This embodiment employs a YOLOv7 neural network-based recognition system to identify pineapples, achieving a recognition accuracy of up to 98%. YOLOv7 utilizes multi-scale feature fusion and adaptive convolution to optimize the detection speed of the neural network. While maintaining its high recognition speed, the system further enhances detection accuracy through improvements to the backbone network, resulting in both fast and accurate pineapple identification. Additionally, an IoT cloud platform is integrated, using IoT terminal hardware to collect data on pineapples and harvesting machines. Photoelectric sensors collect the number of pineapples harvested and the number of cartons packed; a Beidou positioning terminal and 3D LiDAR collect dynamic location information of the machines, as well as positioning, navigation, and obstacle detection. This IoT system can simultaneously control multiple pineapple harvesting machines, significantly improving work efficiency. A dual-lens camera based on Python + Raspberry Pi 3B + YOLOv7 collects pineapple ripeness data for statistical analysis. The installation of a Beidou positioning terminal enables location data collection, allowing for remote monitoring of operating conditions and work quality.

[0080] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A pineapple harvesting device, characterized in that, The device includes a main harvesting mechanism, a visual recognition and positioning module, a harvesting module, a carton forming module, a drive module, and a conveying module. The harvesting module and the visual recognition and positioning module are both located on the front side of the main harvesting mechanism, the drive module is located at the bottom of the main harvesting mechanism, the carton forming module is located on the main harvesting mechanism, and the conveying module is located between the harvesting module and the carton forming module. The main harvesting mechanism has guide shells on both sides. The visual recognition and positioning module is used to acquire images of the pineapples to be picked; to acquire the location of the main body of the picking mechanism; to detect obstacles; and to plan the collection path. The driving module is used to move the main body of the picking mechanism closer to the pineapple to be picked according to the picking path planned by the visual recognition and positioning module. The picking module is used to move to the outside of the pineapple to be picked according to the acquired image to fix the pineapple to be picked, and is also used to rotate and remove the pineapple fruit, and to cut off the crown of the pineapple fruit after it is removed; The carton forming module is used to store folded cartons, unfold and glue the folded cartons into shape, and add the formed cartons into the conveying module. The conveying module is used to add the harvested pineapples into the formed cardboard boxes, and also to output the cardboard boxes filled with pineapples from one side of the main body of the harvesting mechanism to the outside. The picking module includes a rotary picking mechanism and a lifting rod. The lifting rod is located on the front side of the main body of the picking mechanism, and the rotary picking mechanism is located at the lifting end of the lifting rod. The rotary harvesting mechanism includes two harvesting conveyor belts, which are arranged left and right on the front side of the main body of the harvesting mechanism. The two harvesting conveyor belts are arranged facing each other and can move in a direction that is closer to or farther from each other, so that the pineapple to be harvested is fixed between the two harvesting conveyor belts. The two harvesting conveyor belts can rotate clockwise or counterclockwise at the same time to realize the rotary harvesting of pineapple fruits. The harvesting module also includes a cutting mechanism, which includes a cutting blade that can extend above the rotary harvesting mechanism; The conveying module includes a turntable, a fixed base, a roller assembly, a baffle conveyor belt, an output conveyor belt, and a photoelectric sensor. The fixed base is mounted on the main body of the harvesting mechanism. The turntable is rotatably mounted on the fixed base. Multiple notches are evenly distributed on the outer side of the turntable, forming a conveying cavity that can accommodate cartons between the notches and the side wall of the fixed base. A fruit inlet is located on the side wall of the fixed base near the baffle conveyor belt, and a carton inlet is located on the side wall of the fixed base near the carton forming module. A carton outlet is located at the bottom of the fixed base, and the carton outlet is located on the rotation trajectory of the notches. The starting end of the baffle conveyor belt is located below the rotary harvesting mechanism, and the ending end of the baffle conveyor belt extends to the fruit inlet. The starting end of the output conveyor belt is located below the carton outlet, and the ending end of the output conveyor belt corresponds to the output port of the main body of the harvesting mechanism. The photoelectric sensor is located at the end of the baffle conveyor belt and is used to detect the number of pineapples entering the conveying cavity from the baffle conveyor belt. The carton forming module includes a carton storage cavity, a carton suction cup, a sealing crossbar, a sealing push rod, a scissor push rod, a rolling tape, and a roller structure. The carton storage cavity is used to store folded cartons. The carton suction cup is located on one side of the carton storage cavity and can move towards or away from the carton storage cavity. The sealing crossbar is located on one side of the carton storage cavity and can swing up and down. The sealing push rod is vertically located at both ends of the sealing crossbar and can swing up and down. The scissor push rod is located on one side of the carton suction cup, the rolling tape is located on the other side of the carton suction cup, and the roller structure is located on both sides of the rolling tape. The carton suction cup is used to attract and move the folded carton outside the carton storage cavity, so that the folded carton unfolds; the sealing plate swings from bottom to top, causing the short cardboard at the bottom of the carton to close; the sealing push rod swings from bottom to top, causing the long cardboard at the bottom of the carton to close; the scissor push rod pushes the closed carton toward the rolling tape, so that the rolling tape seals the bottom of the carton; the carton with the bottom sealed is pushed into the conveyor cavity by the scissor push rod.

2. The pineapple harvesting device according to claim 1, characterized in that, The picking module also includes a guiding mechanism located in front of the rotary picking mechanism. The guiding mechanism includes two guiding arms and multiple pulleys arranged in front and behind the inner sides of the guiding arms. The two guiding arms are respectively located on both sides of the rotary picking mechanism. The guiding arms are arc-shaped, and the distance between the two guiding arms gradually decreases from away from the rotary picking mechanism to close to the rotary picking mechanism.

3. The pineapple harvesting device according to claim 1, characterized in that, The drive module includes a track mechanism, a drive motor, and a wheel track adjustment mechanism, wherein the drive motor is connected to the input end of the track mechanism; The wheel track adjustment mechanism includes a fixed bracket, a movable bracket, an adjusting plate, and fasteners. The movable bracket is located on both sides of the fixed bracket, the track mechanism is located on the movable bracket, the adjusting plate is located on the fixed bracket, and the movable bracket is also provided with a connecting rod. The connecting rod is slidably engaged with the adjusting plate, and the fasteners are detachably connected to the connecting rods and the adjusting plate. The fasteners are used to fix the connecting rods and the adjusting plate.

4. The pineapple harvesting device according to claim 1, characterized in that, The visual recognition and positioning module includes a binocular camera, a 3D LiDAR, and a BeiDou positioning terminal.

5. A pineapple harvesting method using the pineapple harvesting device as described in any one of claims 1-4, characterized in that, The method includes the following steps: Step 1: Adjust the distance between the track mechanisms on both sides of the drive module to match the wheel track with the spacing of the pineapple field ridges, and add the folded cardboard box into the cardboard box inlet of the cardboard box forming module; Step 2: Set the harvesting route; Step 3: The carton forming module unfolds the carton and seals its bottom to form the finished carton body; Step 4: Identify pineapples in the picking path and determine their ripeness. If the ripeness of the pineapple meets the requirements, set it as a pineapple to be picked and locate the center of the pineapple to be picked. Step 5: The picking module approaches and fixes the pineapple to be picked based on the acquired image. After fixing the pineapple, it removes the pineapple fruit by rotating it. Then, the crown of the pineapple fruit is cut off. The pineapple after the crown is cut off is added to the formed cardboard box by the conveying module. Repeat steps four and five until the carton is full, then output the carton full of pineapples to the outside of the picking mechanism via the conveyor module; Step 6: Repeat step 3 until all pineapples that meet the ripeness requirement along the picking path have been picked.

6. The pineapple harvesting method of the pineapple harvesting device according to claim 5, characterized in that, Step two specifically includes: using a visual recognition and positioning module to detect obstacles on the field ridges and using a Beidou positioning terminal to detect the dynamic position of the harvesting device, in order to set the harvesting path plan, and uploading the data to the backend via 5G communication to monitor the actions of the harvesting device, so that the harvesting device can harvest pineapples according to the set field ridge route. Step four specifically includes: collecting images of pineapples on-site through a visual recognition and positioning module, using a model trained based on YOLOv7 to determine the ripeness of the pineapples and identify their center position, and uploading the collected data to the harvesting module.

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