Pepper bionic picking device, control method thereof and harvester

Abstract

The application provides a pepper bionic picking device, a control method thereof and a harvester. The bionic picking device comprises a bionic roller, an image acquisition device and a control device. The control device is connected with the bionic roller and the image acquisition device respectively. The image acquisition device is used for acquiring the image of the ground level and pepper plants in front of the bionic roller before the bionic roller moves, and transmitting the image to the control device. The bionic roller comprises a plurality of bionic picking devices, a bionic diameter changing device, a web and a central shaft. The bionic diameter changing device and the bionic picking roller with variable stiffness can effectively improve the high breakage rate and low net picking rate during the harvesting of peppers, and can also reduce the damage of the high-speed rotating bionic finger when encountering obstacles.

Description

Technical Field

[0001] The present invention belongs to the technical field of engineering bionics, and in particular relates to a bionic pepper picking device, a control method thereof, and a harvester. Background Art

[0002] At present, the domestic pepper harvesting mainly adopts the roller snap finger type pepper harvester to harvest peppers, but the snap fingers used in the existing pepper harvesters are mostly rigid or nylon snap fingers. The rigid snap fingers cannot play a role in alleviating the impact force when hitting the peppers. The harvested peppers will have different degrees of damage, and a high pepper breakage rate is likely to occur. Although the nylon snap fingers can play a role in alleviating the impact force to a certain extent, they will still cause certain pepper breakage. The structural form of the snap fingers plays a vital role in the mechanized picking of peppers. Designing a snap finger that can effectively reduce the pepper breakage rate is still an urgent problem to be solved. The growth conditions of peppers are different, which may cause the lowest height of peppers from the ground on adjacent pepper plants to change. The traditional roller-flip pepper harvester may miss the peppers during harvesting, which will reduce the pepper picking rate. In addition, due to the undulating terrain or obstacles in the field, the high-speed rotating fingers will be damaged. The above problems indicate that the traditional roller-flip pepper harvester still has a high pepper breakage rate and a low pepper picking rate in some cases, which to a certain extent hinders the development of the mechanized pepper harvesting industry. Therefore, it is very necessary to design a more innovative picking roller. Summary of the Invention

[0003] The present invention aims to address at least one of the aforementioned technical problems to a certain extent. To this end, the present invention provides a bionic pepper picking device, a control method thereof, and a harvester, which effectively improve the high breakage rate and low clean-up rate of peppers during harvesting, while also reducing damage to the high-speed rotating finger when encountering obstacles.

[0004] The present invention is equipped with a bionic variable diameter device, which adjusts the diameter according to the height of the crop in front. It can improve the problem of missed harvesting in traditional finger-snapping rollers, thereby improving the clean picking rate of peppers. The diameter is adjusted according to the road conditions ahead, reducing the damage caused by the finger-snapping roller when encountering obstacles; through the bionic collection device, the damage rate of the target crop is reduced.

[0005] Note that the inclusion of these objectives does not preclude the existence of other objectives. One embodiment of the present invention does not necessarily achieve all of the above objectives. Objectives other than the above objectives may be extracted from the description of the specification, drawings, and claims.

[0006] The technical solution of the present invention is: a bionic pepper picking device, comprising a bionic roller, an image acquisition device and a control device;

[0007] The control device is connected to the bionic roller and the image acquisition device respectively. The image acquisition device is used to collect images of the terrain and pepper plants in front of the bionic roller and transmit them to the control device.

[0008] The bionic roller includes several bionic collection devices, a bionic variable diameter device and a web;

[0009] The bionic variable diameter device is evenly arranged with multiple bionic collection devices around its circumference. The webs are mounted at both ends of the bionic variable diameter device. The bionic variable diameter device is connected to a control device. The control device controls the bionic variable diameter device to switch its diameter based on the images of the terrain in front of the bionic roller and the pepper plants captured by the image collection device.

[0010] In the above scheme, the control device detects the image captured by the image acquisition device 5 in real time. If the lowest ground height of the peppers of the target plant is lower than the lowest picking height of the bionic drum, the control device controls the bionic variable diameter device to increase the diameter of the bionic variable diameter device until the lowest picking height of the bionic drum is lower than the lowest ground height of the peppers of the target plant, at which time the diameter of the bionic variable diameter device stops adjusting.

[0011] If the terrain undulation reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, affecting the normal operation of the finger flick, the control device controls the bionic variable diameter device to reduce the diameter of the bionic variable diameter device until the diameter of the bionic variable diameter device is adjusted to the minimum value.

[0012] In the above solution, the bionic collection device includes a variable stiffness bionic snap finger, a snap finger base, an angle iron and a flexible layer;

[0013] The variable stiffness bionic snap finger is installed on a snap finger base, the snap finger base is installed on an angle iron, a transversely arranged slide groove is provided on the angle iron, and the flexible layer covers the variable stiffness bionic snap finger.

[0014] In the above solution, the variable stiffness bionic snap finger includes a first finger joint, a first pin, a first torsion spring, a second finger joint, a second pin, a second torsion spring and a third finger joint;

[0015] The first knuckle is connected to the second knuckle by a first pin, and a first torsion spring is provided at the connection; the second knuckle is connected to the third knuckle by a second pin, and a second torsion spring is provided at the connection.

[0016] In the above solution, the bionic variable diameter device includes a support rod, a push-pull rod, an electric push rod, a slide cylinder, an inner cylinder, a detachable outer cylinder and a limiting device;

[0017] The number of the slide cylinder and the detachable outer cylinder is two, the slide cylinder is in sliding connection with the inner cylinder, the slide cylinder is symmetrically installed on the inner cylinder in the axial direction, the detachable outer cylinders are connected with each other and are sleeved on the slide cylinder, the detachable outer cylinders are in sliding connection with the slide cylinder, one end of the supporting rod is in sliding connection with the sliding groove of the angle iron, the other end of the supporting rod is connected with the detachable outer cylinder, one end of the push-pull rod is hinged to the rod body of the supporting rod, the other end of the push-pull rod is connected with the slide cylinder, one end of the electric push rod is connected with the detachable outer cylinder, the other end of the electric push rod is connected with the slide cylinder, the electric push rod is used for providing power for the slide cylinder, so that the slide cylinder can slide in the axial direction between the inner cylinder and the detachable outer cylinder, the slide cylinder can drive the push-pull rod to move, thereby driving the supporting rod to slide along the sliding groove of the angle iron, so that the angle iron moves in the radial direction, the limiting device is installed on the web plate, the limiting device is connected with the angle iron, and the limiting device is used for limiting the angle iron to move only in the radial direction during the diameter adjustment and cannot move in the axial direction.

[0018] In the above scheme, the detachable outer cylinder is provided with a plurality of outer cylinder hinged bases arranged in the circumferential direction, square head long slot holes and round head long slot holes on the cylinder body, and the other end of the supporting rod is connected with the outer cylinder hinged base.

[0019] The slide cylinder body of the slide cylinder is provided with a plurality of slide cylinder hinged bases and driving seats arranged in the circumferential direction, the slide cylinder hinged base corresponds to the round head long slot hole, the driving seat corresponds to the square head long slot hole, the other end of the push-pull rod is connected with one end of the slide cylinder hinged base, and the other end of the electric push rod is connected with the driving seat.

[0020] In the above scheme, the limiting device comprises a limiting rod and a sliding groove.

[0021] The end of the limiting rod is a groove, the angle iron is connected with the groove of the limiting rod, the rod body of the limiting rod is in sliding connection with the sliding groove, the rod body of the limiting rod slides in the radial direction along the sliding groove, and the sliding groove is connected with the web plate.

[0022] A control method of a pepper bionic picking device, comprising the following steps:

[0023] The image acquisition device captures the image of the terrain and the target plant in front of the bionic drum running in real time and transmits the image to the control device, the control device analyzes and processes the captured image, if the lowest height of the pepper of the target plant is lower than the lowest picking height of the bionic drum, the control device controls the bionic diameter changing device to increase the diameter of the bionic diameter changing device until the lowest picking height of the bionic drum is lower than the lowest height of the pepper of the target plant, and then the diameter of the bionic diameter changing device stops adjusting, if the terrain fluctuation reaches a target amplitude or a high obstacle appears in the image and reaches a preset height, affecting the normal work of the elastic finger, the control device controls the bionic diameter changing device to decrease the diameter of the bionic diameter changing device until the diameter of the bionic diameter changing device is adjusted to a minimum value.

[0024] In the above solution, the control device analyzes and processes the captured image, and the control device adjusts the diameter of the bionic variable diameter device according to the analysis and processing results, specifically including the following steps:

[0025] Step S1: The control device detects the image captured by the image acquisition device in real time, and identifies the pepper closest to the ground on the target plant in the image, and then calculates the height of the pepper from the ground. This height is the lowest height of the peppers of the target plant from the ground. If the lowest height of the peppers of the target plant from the ground is lower than the lowest picking height of the bionic roller, the control device controls the electric push rods on both sides to contract, so that the slide slides outward, so that the push-pull rod pulls the support rod to rotate outward, and then drives the bionic acquisition device to move radially outward, so that the diameter of the bionic roller becomes larger, until the lowest picking height of the bionic roller is lower than the lowest height of the peppers of the target plant from the ground, and then the electric push rod stops moving;

[0026] Step S2: The control device detects the image captured by the image acquisition device in real time. If the image shows that the terrain undulation reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, which affects the normal operation of the finger snapping device, the control device controls the electric push rods on both sides to extend, causing the slide cylinder to slide inward, thereby causing the push-pull rod to push the support rod to rotate inward, thereby driving the bionic acquisition device to move radially inward until the electric push rods are extended to the maximum distance;

[0027] Step S3: The control device detects the images captured by the image acquisition device in real time. If the lowest height of the peppers of the target plant from the ground in step S1 is lower than the lowest picking height of the bionic roller and the terrain undulation in step S2 reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, and the normal operation of the finger snap occurs at the same time, the control process of step S2 is executed. If the terrain undulation in the subsequently captured image is reduced to below the target amplitude or the tall obstacle in the image is eliminated, the control process of step S1 is executed.

[0028] A harvester comprises the above-mentioned bionic pepper picking device, wherein the bionic pepper picking device is controlled according to the control method of the above-mentioned bionic pepper picking device.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The variable stiffness bionic snap finger and variable diameter bionic picking roller designed in the present invention can effectively improve the problems of high breakage rate and low clean picking rate when harvesting peppers, and can also reduce the damage to the high-speed rotating snap finger when encountering obstacles.

[0031] 2. The present invention uses a bionic collection device to imitate human fingers picking target plants. When combing and picking crops, the crops exert different stresses on the fingers, causing the knuckles of each finger to rotate slightly at a certain angle, thereby absorbing and cushioning the force, reducing the damage rate of the target crops. The flexible layer covering the variable-rigidity bionic snapping finger can absorb and cushion the impact force, thereby preventing the high-speed rotating snapping finger from being damaged when encountering obstacles, and further reducing the damage rate of the target crops.

[0032] 3. The present invention sets a bionic variable diameter device to flexibly adjust the diameter according to the height of the crop in front, which can improve the problem of missed harvesting in traditional finger-snapping rollers, thereby improving the picking rate of peppers. The diameter can also be adjusted according to the road conditions ahead, reducing the damage caused by the finger-snapping roller when encountering obstacles.

[0033] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a stereoscopic diagram of a bionic pepper picking device according to one embodiment of the present invention.

[0035] Figure 2 It is a front view of a bionic variable diameter device according to one embodiment of the present invention.

[0036] Figure 3 It is a schematic diagram of the assembly of a slide cylinder, an inner cylinder and a detachable outer cylinder according to one embodiment of the present invention.

[0037] Figure 4 It is a stereoscopic diagram of a bionic collection device according to one embodiment of the present invention.

[0038] Figure 5 This is a diagram of the variable stiffness bionic finger snapping structure according to one embodiment of the present invention.

[0039] Figure 6 It is a right view of a variable stiffness bionic finger snapping device according to one embodiment of the present invention.

[0040] Figure 7 This is a first pin assembly diagram according to one embodiment of the present invention.

[0041] Figure 8 This is a second pin assembly diagram according to one embodiment of the present invention.

[0042] Figure 9 It is a three-dimensional view of the first finger joint according to one embodiment of the present invention.

[0043] Figure 10 It is a three-dimensional view of the second finger joint according to one embodiment of the present invention.

[0044] Figure 11 It is a three-dimensional view of the third finger joint according to one embodiment of the present invention.

[0045] Figure 12 It is a schematic diagram of the assembly of the support rod and the push-pull rod according to one embodiment of the present invention.

[0046] Figure 13 It is a three-dimensional diagram of a support rod according to one embodiment of the present invention.

[0047] Figure 14 It is a three-dimensional diagram of a slide according to one embodiment of the present invention.

[0048] Figure 15 It is a three-dimensional diagram of a detachable outer cylinder according to one embodiment of the present invention.

[0049] Figure 16 It is a perspective view of a restriction device according to one embodiment of the present invention.

[0050] Figure 17 It is a schematic diagram of the installation of a limiting device according to one embodiment of the present invention.

[0051] Figure 18 This is a schematic diagram showing that the lowest ground height of peppers of the target plant is lower than the lowest picking height of the roller according to one embodiment of the present invention.

[0052] In the figure: 1. Bionic acquisition device; 11. Variable stiffness bionic snapping finger; 111. First finger joint; 1111. Through hole at the lower end of the first finger joint; 1112. Side hole at the lower end of the first finger joint; 112. First pin; 113. First torsion spring; 114. Second finger joint; 1141. Through hole at the upper end of the second finger joint; 1142. Through hole at the lower end of the second finger joint; 1143. Side hole at the upper end of the second finger joint; 1144. Side hole at the lower end of the second finger joint; 115. Second pin; 116. Second torsion spring; 117. Third finger joint; 1171. Through hole at the upper end of the third finger joint; 1172. Side hole at the upper end of the third finger joint; 118. Soft 1. Bionic variable diameter device; 2. Support rod; 21. Support rod body; 212. Connecting piece; 22. Push-pull rod; 23. Electric push rod; 24. Slide; 241. Slide body; 242. Driving seat; 243. Slide hinged base; 25. Inner cylinder; 26. Removable outer cylinder; 261. Outer cylinder body; 262. Outer cylinder hinged base; 2601. Square head long slot hole; 2602. Round head long slot hole; 27. Limiting device; 271. Limiting rod; 272. Slide; 3. Web; 4. Center axis; 5. Image acquisition device; 6. Control device. DETAILED DESCRIPTION

[0053] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0054] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial circumferential", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0055] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] Figure 1 、 Figure 2 The figure shows a preferred embodiment of the bionic pepper picking device, which includes a bionic roller, an image acquisition device 5 and a control device 6;

[0057] The control device 6 is connected to the bionic roller and the image acquisition device 5 respectively. The image acquisition device 5 is used to collect images of the terrain and pepper plants in front of the bionic roller and transmit them to the control device 6;

[0058] The bionic roller includes several bionic collection devices 1, a bionic variable diameter device 2, a web 3, and a central shaft 4;

[0059] The bionic variable diameter device 2 is evenly arranged with multiple bionic collection devices 1 around its circumference. The webs 3 are mounted at both ends of the bionic variable diameter device 2. The center holes of the webs 3 are interference-connected with the center shaft 4. The bionic variable diameter device 2 is connected to the control device 6. The control device 6 controls the bionic variable diameter device 2 to switch the diameter based on the images of the terrain in front of the bionic roller and the pepper plants captured by the image acquisition device 5. The bionic collection device 1 is used to pick target crops along with the bionic variable diameter device 2.

[0060] The control device 6 detects the image captured by the image acquisition device 5 in real time. If the lowest ground height of the peppers of the target plant is lower than the lowest picking height of the bionic drum, the control device 6 controls the bionic variable diameter device 2 to increase the diameter of the bionic variable diameter device 2 until the lowest picking height of the bionic drum is lower than the lowest ground height of the peppers of the target plant, at which time the diameter of the bionic variable diameter device 2 stops adjusting.

[0061] If the terrain undulation reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, affecting the normal operation of the finger flick, the control device 6 controls the bionic variable diameter device 2 to reduce the diameter of the bionic variable diameter device 2 until the diameter of the bionic variable diameter device 2 is adjusted to the minimum value.

[0062] like Figure 4 As shown, preferably, the bionic collection device 1 includes a variable stiffness bionic snap finger 11, a snap finger base 12, and an angle iron 13;

[0063] The variable stiffness bionic snap finger 11 is mounted on a snap finger base 12 , and the snap finger base 12 is mounted on an angle iron 13 via bolts and nuts. The angle iron 13 is provided with a transversely arranged sliding groove.

[0064] like Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 As shown, preferably, the variable stiffness bionic snap finger 11 includes a first finger joint 111, a first pin 112, a first torsion spring 113, a second finger joint 114, a second pin 115, a second torsion spring 116 and a third finger joint 117;

[0065] The first knuckle 111 is connected to the second knuckle 114 via a first pin 112 , and a first torsion spring 113 is provided at the connection. The second knuckle 114 is connected to the third knuckle 117 via a second pin 115 , and a second torsion spring 116 is provided at the connection.

[0066] Preferably, the stiffness of the first torsion spring 113 is lower than that of the second torsion spring 116. When the first knuckle 111 is impacted by a collision, the impact force will also cause slight interference to the second knuckle 114. Driven by the first knuckle 111, the second knuckle 114 may rotate slightly around the third knuckle 117. Therefore, the second torsion spring 116 adopts a torsion spring with higher stiffness than the first torsion spring 113, thereby greatly reducing this slight interference.

[0067] Preferably, it further comprises a flexible layer 118 , which covers the variable-rigidity bionic finger 11 .

[0068] Preferably, the flexible layer 118 is made of high-performance polyurethane material. The flexible layer 118 imitates the skin of human fingers and forms a rigid-flexible coupling structure with each finger joint, thereby enhancing the buffering capacity of the variable-rigidity bionic finger snap 11.

[0069] like Figure 9 、 Figure 10 、 Figure 11 As shown, preferably, the first knuckle 111 is provided with a plurality of through holes, including a through hole 1111 at the lower end of the first knuckle and a side hole 1112 at the lower end of the first knuckle; the second knuckle 114 is provided with a plurality of through holes, including a through hole 1141 at the upper end of the second knuckle, a through hole 1142 at the lower end of the second knuckle, a side hole 1143 at the upper end of the second knuckle, and a side hole 1144 at the lower end of the second knuckle; the third knuckle 117 is provided with a plurality of through holes, including a through hole 1171 at the upper end of the third knuckle and a side hole 1172 at the upper end of the third knuckle;

[0070] like Figure 7 As shown, the first pin 112 passes through the through hole 1111 at the lower end of the first knuckle and the through hole 1141 at the upper end of the second knuckle at the same time, and the first pin 112 and the through hole 1111 at the lower end of the first knuckle are clearance-fitted to achieve hinged connection, and the first pin 112 and the through hole 1141 at the upper end of the second knuckle are interference-fitted to achieve fixed connection. The first torsion spring 113 is sleeved on the first pin 112, leaving a gap between the two, and at the same time, one end of the first torsion spring 113 is fixed to the side hole 1112 at the lower end of the first knuckle, and the other end is fixed to the side hole 1143 at the upper end of the second knuckle. When the roller is operating, if the first knuckle 111 is impacted by the collision of peppers, this connection method can make the first knuckle 111 slightly rotate around the second knuckle 114 at a certain angle, thereby buffering the collision force of the peppers and reducing the loss of peppers;

[0071] like Figure 8As shown, the second pin 115 passes through the through hole 1142 at the lower end of the second knuckle and the through hole 1171 at the upper end of the third knuckle at the same time. The second pin 115 and the through hole 1142 at the lower end of the second knuckle are clearance-fitted to achieve hinged connection, while the second pin 115 and the through hole 1171 at the upper end of the third knuckle are interference-fitted to achieve fixed connection. The second torsion spring 116 is sleeved on the second pin 115 with a gap between the two. At the same time, one end of the second torsion spring 116 is fixed to the side hole 1144 at the lower end of the second knuckle, and the other end is fixed to the side hole 1172 at the upper end of the third knuckle. When the roller is operating, if the second knuckle 114 is impacted by the pepper, this connection method can allow the second knuckle 114 to slightly rotate around the third knuckle 117 by a certain angle, thereby buffering the impact force of the pepper and reducing pepper loss.

[0072] The working principle of the bionic collection device 1 is as follows:

[0073] A plurality of bionic collecting devices 1 are evenly arranged around the circumference of the bionic variable diameter device 2, and the variable stiffness bionic snap fingers 11 of two adjacent bionic collecting devices 1 are staggered. Under the high-speed rotation of the bionic drum, the bionic collecting device 1 quickly combs the peppers on the pepper plants. Since the bionic collecting device 1 is equipped with the variable stiffness bionic snap fingers 11, the damage of the peppers can be greatly reduced when the peppers are hit at high speed. After the bionic collecting device 1 combs the peppers down, under the high-speed rotation of the bionic drum, the variable stiffness bionic snap fingers 11 on the bionic collecting device 1 throw the peppers backwards onto the conveyor belt of the harvester to complete the picking operation.

[0074] like Figure 2 、 Figure 3As shown, preferably, the bionic variable diameter device 2 includes a support rod 21, a push-pull rod 22, an electric push rod 23, a slide 24, an inner cylinder 25, a detachable outer cylinder 26, and a limiting device 27; the slide 24 and the detachable outer cylinder 26 are both two in number, the slide 24 is slidably connected to the inner cylinder 25, the slide 24 is axially symmetrically installed on the inner cylinder 25, the detachable outer cylinder 26 is connected to each other and sleeved on the outside of the slide 24, the detachable outer cylinder 26 is slidably connected to the slide 24, one end of the support rod 21 is slidably connected to the slide groove of the angle iron 13, the other end of the support rod 21 is connected to the detachable outer cylinder 26, and one end 22 of the push-pull rod is hinged to the rod body of the support rod 21 The other end of the push-pull rod 22 is connected to the slide 24, one end of the electric push rod 23 is connected to the detachable outer cylinder 26, and the other end of the electric push rod 23 is connected to the slide 24. The electric push rod 23 is used to provide power for the slide 24, so that the slide 24 can slide axially between the inner cylinder 25 and the detachable outer cylinder 26. The slide 24 can drive the push-pull rod 22 to move, thereby driving the support rod 21 to slide along the slide groove of the angle iron 13, so that the angle iron 13 moves radially. The limiting device 27 is installed on the web 3, and the limiting device 27 is connected to the angle iron 13. The limiting device 27 is used to limit the angle iron 13 to only move radially during the diameter adjustment process, and cannot move axially.

[0075] like Figure 14 、 15 As shown, the outer cylinder body 261 of the detachable outer cylinder 26 is provided with a plurality of outer cylinder hinge bases 262, square head long slot holes 2601 and round head long slot holes 2602 arranged along the circumferential direction. The square head long slot holes 2601 and the round head long slot holes 2602 can limit the driving seat 242 and the slide hinge base 243 of the slide cylinder 24 from moving relative to the inner cylinder 25 and the detachable outer cylinder 26 in the circumferential direction. The other end of the support rod 21 is hinged to the outer cylinder hinge base 262. The slide cylinder body 241 of the slide cylinder 24 is provided with a plurality of slide hinge bases 243 and drive bases 242 arranged along the circumferential direction. The slide hinge base 243 corresponds to the round head long slot holes 2602, and the drive base 242 corresponds to the square head long slot holes 2601. The push-pull rod The other end of 22 is hinged to one end of the slide hinge base 243, one end of the electric push rod 23 is connected to the detachable outer cylinder 26, and the other end of the electric push rod 23 is connected to the drive seat 242. The electric push rod 23 is used to provide power for the slide 24, so that the slide 24 can slide axially between the inner cylinder 25 and the detachable outer cylinder 26. The slide 24 can drive the push-pull rod 22 to move, thereby driving the support rod 21 to slide along the slide groove of the angle iron 13, so that the angle iron 13 moves radially. The limiting device 27 is installed on the web 3, and the limiting device 27 is connected to the angle iron 13. The limiting device 27 is used to limit the movement direction of the angle iron 13, so that the bionic collection device 1 can only achieve radial movement but not axial movement during the diameter adjustment process.

[0076] According to one embodiment of the present invention, preferably, the support rods 21 and push-pull rods 22 are evenly distributed in the circumferential direction in twelve numbers, and the corresponding slide cylinder hinge base 243, round head long slot hole 2602, outer cylinder hinge base 262, limiting device 27, and bionic collection device 1 are also twelve in number.

[0077] like Figure 12 、 Figure 13 As shown, preferably, the support rod 21 includes a support rod body 211 and a connecting piece 212; preferably, the upper end of the support rod body 211 is a groove, with through holes on both sides of the groove, and long slots on both sides of the angle iron 13. Pins are used to pass through the groove through holes on the upper end of the support rod body 211 and the long slots of the angle iron 13 in sequence, wherein the groove through holes on the upper end of the support rod body 211 are distributed at both ends and have an interference fit with the pins, and the long slots of the angle iron 13 are distributed on the inner side and have a clearance fit with the pins. This connection method allows the support rod 21 to slide axially along the angle iron 13 and rotate relative to it. The lower end of the support rod body 211 is a groove, and the lower end groove is provided with a relative through hole. After the groove at the lower end of the support rod body 211 is fitted with the outer cylinder hinge base 262, they are connected by a hinge connection method so that they can rotate with each other. The push-pull rod 22 has grooves at both its upper and lower ends, each of which has opposing through-holes. The connector 212 engages with the groove at the upper end of the push-pull rod 22, forming a hinged connection for rotation. The groove at the lower end of the push-pull rod 22 engages with the hinged base 243 of the slide, forming a hinged connection for rotation.

[0078] According to one embodiment of the present invention, preferably, two drive seats 242 are evenly welded on the outer side of the slide cylinder body 241 along the circumferential direction, and the drive seat 242 has a cylindrical blind hole on one end close to the end of the slide cylinder body 241, and the cylindrical blind hole is fixedly connected to the electric push rod 23.

[0079] like Figure 16 、 Figure 17 As shown, preferably, the limiting device 27 includes a limiting rod 271 and a slide groove 272; one end of the limiting rod 271 is a groove, and there are through holes on both sides of the groove, and there are through holes on both sides of the angle iron 13 that can fit with the through holes in the groove of the limiting rod 271. The angle iron 13 is fixedly connected to the limiting rod 271 with bolts and nuts, and the rod body of the limiting rod 271 is slidably connected to the slide groove 272. The rod body of the limiting rod 271 can slide radially along the slide groove 272, and the slide groove 272 is fixedly connected to the web 3 with bolts and nuts.

[0080] A control method for a bionic pepper picking device comprises the following steps:

[0081] The image acquisition device 5 captures the image of the terrain in front of the bionic drum and the target plant in real time and transmits it to the control device 6. The control device 6 analyzes and processes the captured image. If the lowest height of the peppers of the target plant is lower than the lowest picking height of the bionic drum, the control device 6 controls the bionic diameter changing device 2 to increase the diameter of the bionic diameter changing device 2 until the lowest picking height of the bionic drum is lower than the lowest height of the peppers of the target plant.

[0082] Preferably, the control device 6 analyzes and processes the captured image, and adjusts the diameter of the bionic diameter changing device 2 according to the analysis and processing result, which includes the following steps:

[0083] Step S1: The control device 6 detects the image collected by the image acquisition device 5 in real time, identifies the closest peppers to the ground on the target plant in the image, and then calculates the height of the peppers from the ground. This height is the lowest height of the peppers of the target plant from the ground. If the lowest height of the peppers of the target plant is lower than the lowest picking height of the bionic drum, the control device 6 controls the electric push rods 23 on both sides to retract, so that the sliding drum 24 slides outward, thereby making the push-pull rod 22 pull the support rod 21 to rotate outward, and then driving the bionic collecting device 1 to move outward along the radial direction, so as to increase the diameter of the bionic drum until the electric push rod 23 stops moving when the lowest picking height of the bionic drum is lower than the lowest height of the peppers of the target plant from the ground. Figure 18

[0084] Step S2: The control device 6 detects the image collected by the image acquisition device 5 in real time. If the terrain fluctuation in the image reaches a preset amplitude, or a high obstacle appears in the image and reaches a preset height, affecting the normal work of the bionic finger, the control device 6 controls the electric push rods 23 on both sides to extend, so that the sliding drum 24 slides inward, thereby making the push-pull rod 22 push the support rod 21 to rotate inward, and then driving the bionic collecting device 1 to move inward along the radial direction until the electric push rod 23 extends to the maximum distance.

[0085] ​Step S3: The control device 6 detects the images captured by the image acquisition device 5 in real time. If the lowest height of the peppers of the target plant from the ground in step S1 is lower than the lowest picking height of the bionic roller and the terrain undulation in step S2 reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, and the normal operation is affected at the same time, the control process of step S2 is executed. If the terrain undulation in the subsequently captured image is reduced to below the target amplitude or the tall obstacle in the image is eliminated, the control process of step S1 is executed.

[0086] According to an embodiment of the present invention, preferably, the image acquisition device 5 uses a binocular camera to capture images.

[0087] Preferably, the operator can manually control the control device 6 to manually adjust the diameter of the bionic variable diameter device 2 .

[0088] A harvester comprises the above-mentioned bionic pepper picking device, wherein the above-mentioned bionic pepper picking device is controlled according to the control method of the bionic pepper picking device.

[0089] Preferably, the image acquisition device 5 is installed on the front frame of the harvester to facilitate image acquisition.

[0090] Engineering bionic principles:

[0091] The present invention employs biomimetic design to design the structure and physiological functions of the human hand and arm. Manual pepper picking, while less efficient than mechanical picking, has a higher clean pick rate and a lower pepper breakage rate. The human hand plays a crucial role in the picking process. When combing and picking peppers, the finger joints rotate slightly at a certain angle based on the stress exerted by the peppers on the fingers. This effectively absorbs and cushions the impact force between the fingers and the peppers. The flexible skin of the fingers and the phalanges form a rigid-flexible coupling structure, effectively absorbing and cushioning the impact force between the fingers and the peppers when picking peppers. Given these structural characteristics and physiological functions, manually picked peppers are less likely to break. Based on this, the present invention designs a variable-stiffness bionic snap finger 11, in which the first, second, and third phalanges 111, 114, and 117 mimic the distal, middle, and proximal phalanges of a human finger, respectively. The first torsion spring 113 simulates the articular cartilage between the distal and middle phalanges of a human finger, and the second torsion spring 116 simulates the articular cartilage between the middle and proximal phalanges of a human finger. The simulated articular cartilage can absorb and buffer the stress on the finger, and the use of a torsion spring connection can play a similar role. During the harvesting process, when the pepper hits the first knuckle 111, the first knuckle 111 can slightly rotate around the second knuckle 114 at a certain angle under the action of the first torsion spring 113. When the pepper hits the second knuckle 114, the second knuckle 114 can slightly rotate around the third knuckle 117 at a certain angle under the action of the second torsion spring 116. These characteristics simulate the function of articular cartilage to absorb and buffer stress when the finger knuckles are subjected to force. Therefore, the variable stiffness bionic snap finger 11 can effectively absorb and buffer the mutual impact force between the pepper and the snap finger, thereby reducing the pepper breakage rate. Flexible layer 118 mimics the skin of human fingers, forming a rigid-flexible coupling structure with each knuckle, enhancing the cushioning capacity of variable-stiffness bionic snapping finger 11. Variable-stiffness bionic snapping finger 11 is mounted on angle iron 13, which resembles a human palm. Multiple variable-stiffness bionic snapping fingers 11 resemble multiple fingers on a palm, supporting them to comb peppers like a human hand.

[0092] An engineering bionic analysis of the coordination mechanism between the human hand and arm reveals that the human arm can be simply viewed as a skeleton-muscle-skin structure, with the metacarpal bones and tendon structures being the primary considerations. The present invention mimics the following physiological function: Muscles are supported by bones and protected by skin. When the muscles contract or relax, they drive the tendons to stretch the metacarpal bones, causing them to rotate around the wrist joint toward the back of the hand or the palm. Because the metacarpal bones are located within the palm, this external manifestation is the palm flexing around the wrist toward the back of the hand or the palm. Based on this, the present invention designs a bionic variable diameter device 2. To mimic the simplified "skeletal-muscle-skin" structure of the arm, a combination structure of an inner cylinder 25, a slide cylinder 24, and a detachable outer cylinder 26 is designed. In actual operation, an electric push rod 23 drives the slide cylinder 24 to slide axially between the inner cylinder 25 and the detachable outer cylinder 26, thereby driving the push-pull rod 22 to move. This action simulates the physiological function of muscles contracting or relaxing between the bones and skin, thereby driving the tendon movement, providing a power source for the entire bionic variable diameter device. To simulate the process by which tendons in a human hand stretch the metacarpal bones, causing them to rotate around the wrist joint toward the back or palm of the hand, a combination of a support rod 21 and a push-pull rod 22 was designed. The support rod 21 simulates the metacarpal bones of a human hand, while the push-pull rod 22 mimics the tendons. In actual operation, a slide cylinder 24 drives the bottom of the push-pull rod 22 to slide axially, simulating the tendon-driven process. When the slide 24 drives the bottom of the push-pull rod 22 to slide axially outward, the upper end of the push-pull rod 22 pulls the support rod 21 to rotate clockwise around the hinge point. This process simulates the muscles on the back of the hand contracting and stretching the corresponding tendons, thereby driving the metacarpal bones to rotate toward the back of the hand around the wrist joint. When the slide 24 drives the bottom of the push-pull rod 22 to slide axially inward, the upper end of the push-pull rod 22 pushes the support rod 21 to rotate counterclockwise around the hinge point. This process approximately simulates the muscles on the back of the hand relaxing, and the muscles on the palm side drive the corresponding tendons to stretch the metacarpal bones to rotate toward the palm around the wrist joint. The combined structure of the support rod 21 and the push-pull rod 22 is stable and can flexibly adjust the diameter of the bionic roller.

[0093] The present invention can effectively improve the problems of high breakage rate and low clean picking rate when harvesting peppers, and can also reduce the damage caused by the high-speed rotating snapping finger encountering obstacles.

[0094] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0095] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A bionic pepper picking device, characterized in that: It includes a bionic roller, an image acquisition device (5) and a control device (6); The control device (6) is connected to the bionic roller and the image acquisition device (5) respectively. The image acquisition device (5) is used to collect images of the terrain and pepper plants in front of the bionic roller and transmit them to the control device (6); The bionic roller comprises a plurality of bionic collection devices (1), a bionic variable diameter device (2) and a web (3); The bionic variable diameter device (2) is evenly arranged with a plurality of bionic collection devices (1) around its circumference. The webs (3) are mounted at both ends of the bionic variable diameter device (2). The bionic variable diameter device (2) is connected to a control device (6). The control device (6) controls the bionic variable diameter device (2) to switch its diameter based on the images of the terrain in front of the bionic roller and the pepper plants collected by the image collection device (5). The bionic variable diameter device (2) comprises a support rod (21), a push-pull rod (22), an electric push rod (23), a slide cylinder (24), an inner cylinder (25), a detachable outer cylinder (26), and a limiting device (27); The number of the slide cylinder (24) and the detachable outer cylinder (26) is two. The slide cylinder (24) is slidably connected to the inner cylinder (25). The slide cylinder (24) is axially symmetrically installed on the inner cylinder (25). The detachable outer cylinder (26) is connected to each other and sleeved outside the slide cylinder (24). The detachable outer cylinder (26) is slidably connected to the slide cylinder (24). One end of the support rod (21) is slidably connected to the slide groove of the angle iron (13). The other end of the support rod (21) is connected to the detachable outer cylinder (26). One end of the push-pull rod (22) is hinged to the rod body of the support rod (21). The other end of the push-pull rod (22) is connected to the slide cylinder (24). One end of the electric push rod (23) is hinged to the detachable outer cylinder. (26) is connected, and the other end of the electric push rod (23) is connected to the slide cylinder (24). The electric push rod (23) is used to provide power for the slide cylinder (24), so that the slide cylinder (24) can slide axially between the inner cylinder (25) and the detachable outer cylinder (26). The slide cylinder (24) can drive the push-pull rod (22) to move, thereby driving the support rod (21) to slide along the slide groove of the angle iron (13), so that the angle iron (13) moves radially. The limiting device (27) is installed on the web (3), and the limiting device (27) is connected to the angle iron (13). The limiting device (27) is used to limit the angle iron (13) to move only radially and not axially during the diameter adjustment process.

2. The pepper bionic picking device according to claim 1, characterized in that: The control device (6) detects the image collected by the image collection device (5) in real time. If the lowest ground height of the peppers of the target plant is lower than the lowest picking height of the bionic roller, the control device (6) controls the bionic variable diameter device (2) to increase the diameter of the bionic variable diameter device (2) until the lowest picking height of the bionic roller is lower than the lowest ground height of the peppers of the target plant, and then the diameter of the bionic variable diameter device (2) stops adjusting. If the terrain undulation reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, affecting the normal operation of the finger flick, the control device (6) controls the bionic variable diameter device (2) to reduce the diameter of the bionic variable diameter device (2) until the diameter of the bionic variable diameter device (2) is adjusted to the minimum value.

3. The bionic pepper picking device according to claim 2, characterized in that: The bionic collection device (1) comprises a variable-rigidity bionic snapping finger (11), a snapping finger base (12), an angle iron (13), and a flexible layer (118); The variable stiffness bionic snap finger (11) is mounted on a snap finger base (12), the snap finger base (12) is mounted on an angle iron (13), a horizontally arranged slide groove is provided on the angle iron (13), and a flexible layer (118) covers the variable stiffness bionic snap finger (11).

4. The bionic pepper picking device according to claim 3, characterized in that: The variable stiffness bionic snap finger (11) comprises a first finger joint (111), a first pin (112), a first torsion spring (113), a second finger joint (114), a second pin (115), a second torsion spring (116) and a third finger joint (117); The first finger joint (111) and the second finger joint (114) are connected via a first pin (112), and a first torsion spring (113) is provided at the connection; the second finger joint (114) and the third finger joint (117) are connected via a second pin (115), and a second torsion spring (116) is provided at the connection.

5. The bionic pepper picking device according to claim 4, characterized in that: The body of the detachable outer cylinder (26) is provided with a plurality of outer cylinder hinge bases (262), square-headed long slots (2601) and round-headed long slots (2602) arranged along the circumferential direction, and the other end of the support rod (21) is connected to the outer cylinder hinge base (262); A plurality of slide hinge bases (243) and a drive base (242) arranged along the circumferential direction are installed on the slide body (241) of the slide (24), the slide hinge base (243) corresponds to the round head long slot hole (2602), the drive base (242) corresponds to the square head long slot hole (2601), the other end of the push-pull rod (22) is connected to one end of the slide hinge base (243), and the other end of the electric push rod (23) is connected to the drive base (242).

6. The bionic pepper picking device according to claim 5, characterized in that: The limiting device (27) includes a limiting rod (271) and a sliding groove (272); One end of the limiting rod (271) is a groove, the angle iron (13) is connected to the groove of the limiting rod (271), the rod body of the limiting rod (271) is slidably connected to the slide groove (272), the rod body of the limiting rod (271) slides radially along the slide groove (272), and the slide groove (272) is connected to the web (3).

7. A control method for the pepper bionic picking device according to claim 6, characterized in that: The following steps are involved: The image acquisition device (5) captures the terrain in front of the bionic roller and the image of the target plant in real time and transmits it to the control device (6). The control device (6) analyzes and processes the captured image. If the lowest ground height of the pepper of the target plant is lower than the lowest picking height of the bionic roller, the control device (6) controls the bionic variable diameter device (2) to increase the diameter of the bionic variable diameter device (2) until the lowest picking height of the bionic roller is lower than the lowest ground height of the pepper of the target plant, and then the diameter of the bionic variable diameter device (2) stops adjusting. If the terrain undulation reaches the target amplitude or a tall obstacle appears in the image and reaches a preset height, affecting the normal operation of the finger snap, the control device (6) controls the bionic variable diameter device (2) to decrease the diameter of the bionic variable diameter device (2) until the diameter of the bionic variable diameter device (2) is adjusted to the minimum value.

8. The control method of the bionic pepper picking device according to claim 7, characterized in that: The control device (6) analyzes and processes the captured image, and the control device (6) adjusts the diameter of the bionic variable diameter device (2) according to the result of the analysis and processing, specifically including the following steps: Step S1: The control device (6) detects the image collected by the image acquisition device (5) in real time, and identifies the pepper closest to the ground on the target plant in the image, and then calculates the height of the pepper from the ground. This height is the lowest height of the pepper of the target plant from the ground. If the lowest height of the pepper of the target plant from the ground is lower than the lowest picking height of the bionic roller, the control device (6) controls the electric push rods (23) on both sides to contract, so that the slide (24) slides outward, so that the push-pull rod (22) pulls the support rod (21) to rotate outward, and then drives the bionic acquisition device (1) to move radially outward, so that the diameter of the bionic roller becomes larger, until the lowest picking height of the bionic roller is lower than the lowest height of the pepper of the target plant from the ground, and then the electric push rod (23) stops moving; Step S2: The control device (6) detects the image collected by the image acquisition device (5) in real time. If the image shows a terrain undulation reaching a preset amplitude or a tall obstacle appears in the image and reaches a preset height, which affects the normal operation of the finger snapping device, the control device (6) controls the electric push rods (23) on both sides to extend, so that the slide cylinder (24) slides inward, thereby causing the push-pull rod (22) to push the support rod (21) to rotate inward, thereby driving the bionic acquisition device (1) to move radially inward until the electric push rod (23) extends to the maximum distance; Step S3: The control device (6) detects the image captured by the image acquisition device (5) in real time. If the lowest ground height of the pepper of the target plant in step S1 is lower than the lowest picking height of the bionic roller and the terrain undulation in step S2 reaches a preset amplitude or a tall obstacle appears in the image and reaches a preset height, and the situation that affects the normal operation of the finger snap occurs at the same time, the control process of step S2 is executed. If in the subsequently captured image, the terrain undulation is reduced to below the target amplitude or the tall obstacle in the image is eliminated, the control process of step S1 is executed.

9. A harvester comprising the bionic pepper picking device according to any one of claims 1 to 6, wherein the bionic pepper picking device is controlled according to the control method of the bionic pepper picking device according to any one of claims 7 to 8.

Images