Apple picking, grading and collecting intelligent vehicle

Abstract

This invention relates to the field of orchard machinery, and more particularly to an intelligent vehicle for apple picking, grading, and collection. It includes an intelligent picking vehicle, a transfer vehicle, and a fruit conveying device. The picking vehicle has two parallel fruit conveyor belts on its top, each with a fruit elevator at its end. Above each conveyor belt are a fruit-picking robotic arm and a fruit-sensing depth camera. The intelligent transfer vehicle has two parallel fruit drop troughs, each with three sizes of drop holes arranged in ascending order of fruit entry direction. A collection basket is located below each drop hole. This invention integrates picking, grading, collection, and transportation into a single intelligent vehicle, effectively improving fruit picking efficiency, reducing labor intensity, and meeting the needs of orchard mechanization. Furthermore, the picking vehicle and transfer vehicle of this invention employ a "mother-child cooperative operation mode" to achieve uninterrupted mechanized apple picking.

Description

Technical Field

[0001] This invention relates to the field of orchard machinery, and more particularly to an intelligent vehicle for apple picking, grading and collection. Background Technology

[0002] As orchard planting areas expand, people's requirements for fruit quality are becoming increasingly stringent. However, orchard operations are characterized by high labor intensity, limited machinery, and low efficiency, with most operations still relying on manual labor, resulting in high labor costs. Therefore, mechanized orchard operations are urgently needed. Currently, agriculture is at a critical stage of transitioning from traditional mechanization to modern intelligentization. However, in the production of fruits and vegetables, grafting, harvesting, and sorting still require a large amount of labor to meet seasonal and quality requirements. The increasingly severe labor shortage in agricultural production is leading to a corresponding increase in agricultural production costs. Harvesting and sorting fruits and vegetables are crucial steps in the production process, with manual harvesting accounting for approximately 25% to 33% of the total production cost. Manual harvesting, sorting, and transportation suffer from low efficiency, high costs, inconsistent grading standards, and a high degree of arbitrariness, resulting in the market's inability to meet the seasonality, freshness, and quality requirements of fruits and vegetables.

[0003] Therefore, in response to the requirements of the apple industry, it is necessary to develop an intelligent vehicle that integrates picking, grading, collection, and transportation to improve production efficiency, reduce labor intensity, reduce overall production costs, and gradually meet the needs of orchard mechanization. Summary of the Invention

[0004] Based on the above problems, the purpose of this invention is to provide an intelligent vehicle for apple harvesting, grading, and collection. This invention adopts the following technical solution:

[0005] This invention provides an intelligent vehicle for apple harvesting, grading, and collection, comprising:

[0006] The intelligent mobile picking vehicle has two parallel fruit conveyor belts on its top. Each fruit conveyor belt has a fruit elevator at its end, and each fruit conveyor belt has a corresponding fruit picking robotic arm and a fruit sensing depth camera above it.

[0007] The intelligent transfer vehicle is equipped with two parallel fruit rolling guide channels. Each fruit rolling guide channel has three sizes of dropping holes arranged from small to large along the direction of fruit entry. A collection basket is provided below each dropping hole.

[0008] A vehicle attachment device includes a tow hook and a tow seat; the tow hook is fixed to the front of the intelligent transport vehicle; the tow seat is fixed to the rear of the intelligent mobile picking vehicle, the tow seat is provided with a tow hole that engages with the tow hook, the tow seat is provided with a vertical guide hole that passes through the tow hole, and a hook rod that can move up and down and engages with the tow hook is provided in the vertical guide hole.

[0009] A fruit conveying device includes a bracket with a support arm below it. One end of the support arm is rotatably connected to the intelligent mobile picking vehicle, and the other end is rotatably connected to the bracket. Two flexible conveying tubes are arranged side by side on the bracket. One end of each flexible conveying tube is connected to the discharge end of the corresponding fruit elevator, and the other end of each flexible conveying tube is inserted into a docking cylinder. The docking cylinder is fixed on the intelligent transfer vehicle, and the docking cylinder corresponds one-to-one with the fruit rolling guide chute.

[0010] Preferably, the traction seat is provided with a guide rail communicating with the vertical guide hole, and a sliding rod and a spring are provided in the guide rail. One end of the spring abuts against the guide rail, and the other end abuts against the rear end of the sliding rod. The sliding rod is connected to the impact plate provided in the traction hole position, and the front end of the sliding rod is inserted into the reserved positioning groove of the hook rod.

[0011] The top of the traction seat is provided with a vertically arranged telescopic drive component, and a push plate is provided above the telescopic drive component. The push plate is fixed on the hook rod.

[0012] Preferably, the intelligent transfer vehicle has a base plate on top, a weighing sensor is arranged below the base plate, and a lifting platform is arranged above the base plate at a position corresponding to the drop hole, and the storage basket is placed on the lifting platform.

[0013] Preferably, the lifting platform is a scissor lift platform.

[0014] Preferably, the inner wall of the drop hole is provided with a number of bristles.

[0015] Preferably, the fruit rolling guide groove is arranged at an angle along the fruit entering direction.

[0016] Preferably, the mating interface of the docking cylinder is funnel-shaped.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0018] This invention relates to an intelligent vehicle that integrates picking, grading, collection, and transportation, which can effectively improve fruit picking efficiency, reduce labor intensity, and meet the needs of orchard mechanization. At the same time, the picking vehicle and the transfer vehicle of this invention adopt a "mother-child cooperative operation mode" to realize uninterrupted mechanized apple picking. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the main view structure of the intelligent vehicle for apple picking, grading, and collection in an embodiment of the present invention;

[0021] Figure 2 This is a top view of the intelligent vehicle for apple harvesting, grading, and collection in an embodiment of the present invention.

[0022] Figure 3 This is a front view diagram of the vehicle attachment device in the disengaged state in an embodiment of the present invention;

[0023] Figure 4 This is a front view diagram of the vehicle coupling device in the coupled state in an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the main structure of the fruit transport device in an embodiment of the present invention;

[0025] Figure 6 This is a block diagram illustrating the working principle of the intelligent mobile vehicle in an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached drawings: 1. Intelligent mobile picking vehicle; 2. Fruit conveyor belt; 3. Fruit elevator; 4. Fruit picking robotic arm; 5. Fruit sensing depth camera; 6. Intelligent transfer vehicle; 7. Fruit rolling guide chute; 701. Drop hole; 702. Brush; 8. Storage basket; 9. Vehicle attachment device; 901. Towing hook; 902. Towing seat; 903. Towing hole; 904. Vertical guide hole; 905. Hook rod; 906. Guide rail; 907. Sliding rod; 908. Spring; 909. Impact plate; 910. Telescopic drive component; 911. Push plate; 10. Fruit transmission device; 1001. Bracket; 1002. Support arm; 1003. Flexible transmission tube; 1004. Connecting cylinder; 11. Base plate; 12. Weighing sensor; 13. Lifting platform. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 2As shown, this embodiment discloses an intelligent vehicle for apple picking, grading, and collection, including an intelligent mobile picking vehicle 1 and an intelligent transfer vehicle 6. The intelligent mobile picking vehicle 1 has two parallel fruit conveyor belts 2 on its top, each with a fruit elevator 3 at its end. Above each fruit conveyor belt 2, a fruit picking robotic arm 4 and a fruit-sensing depth camera 5 are correspondingly installed. The intelligent transfer vehicle 6 has two parallel fruit drop guide troughs 7, which are inclined along the fruit entry direction. Each fruit drop guide trough 7 has three sizes of drop holes 701 arranged sequentially from small to large along the fruit entry direction, with the size of the drop holes 701 gradually increasing according to the fruit entry direction. A collection basket 8 is installed below each drop hole 701.

[0029] In this embodiment, the intelligent mobile picking vehicle 1 and the intelligent transfer vehicle 6 are connected via a vehicle coupling device 9, such as... Figures 3 to 4 As shown, the vehicle attachment device 9 includes a tow hook 901 and a tow seat 902; the tow hook 901 is fixed to the front of the intelligent transfer vehicle 6; the tow seat 902 is fixed to the rear of the intelligent mobile picking vehicle 1. The tow seat 902 is provided with a tow hole 903 that engages with the tow hook 901. The tow seat 902 is provided with a vertical guide hole 904 that passes through the tow hole 903. A hook rod 905 that can move up and down and engages with the tow hook 901 is provided in the vertical guide hole 904.

[0030] In this embodiment, the traction seat 902 is also equipped with an automatic locking structure. Specifically, the traction seat 902 is provided with a guide rail 906 that communicates with the vertical guide hole 904. The guide rail 906 is provided with a sliding rod 907 and a spring 908. One end of the spring 908 abuts against the guide rail 906, and the other end abuts against the rear end of the sliding rod 907. The sliding rod 907 is connected to the impact plate 909 provided in the traction hole 903. The front end of the sliding rod 907 is inserted into the reserved positioning groove of the hook rod 905. The top of the traction seat 902 is provided with a vertically arranged telescopic drive member 910. A push plate 911 is provided above the telescopic drive member 910. The push plate 911 is fixed on the hook rod 905.

[0031] The working principle of the automatic locking structure is as follows: After the towing hook 901 is inserted into the towing hole 903, it pushes the impact plate 909 to move backward. During the movement, the impact plate 909 causes the sliding rod 907 to release the restriction on the hook rod 905. Under the action of gravity, the hook rod 905 is inserted into the towing hook 901. When the vehicle hooking device 9 is disengaged, the telescopic drive component 910 pushes the push plate 911 upward, causing the hook rod 905 to rise. When the pre-reserved positioning groove on the hook rod 905 corresponds to the sliding rod 907, the sliding rod 907 pops forward under the action of the spring 908, limiting the hook rod 905.

[0032] In this embodiment, the fruit elevator 3 on the intelligent mobile picking vehicle 1 transfers fruit to the fruit drop guide 7 on the intelligent transfer vehicle 6 via the fruit transfer device 10. For example... Figure 5 As shown, the fruit conveying device 10 includes a bracket 1001, and a support arm 1002 is provided below the bracket 1001. One end of the support arm 1002 is rotatably connected to the intelligent mobile picking vehicle 1, and the other end is rotatably connected to the bracket 1001. Two flexible conveying pipes 1003 are arranged side by side on the bracket 1001. One end of the flexible conveying pipe 1003 is connected to the discharge end of the corresponding fruit elevator 3, and the other end of the flexible conveying pipe 1003 is inserted into and cooperates with the docking cylinder 1004. The docking cylinder 1004 is fixed on the intelligent transfer vehicle 6, and the docking cylinder 1004 corresponds one-to-one with the fruit rolling guide chute 7.

[0033] To facilitate the insertion of the flexible transmission tube 1003 and the docking cylinder 1004, the interface of the docking cylinder 1004 is flared.

[0034] To reduce the impact force of the fruit entering the drop hole 701, in this embodiment, a number of bristles 702 are provided on the inner wall of the drop hole 701.

[0035] In this embodiment, the intelligent transfer vehicle 6 has a base plate 11 on top, a weighing sensor 12 arranged below the base plate 11, and a lifting platform 13 is provided above the base plate 11 at a position corresponding to the drop hole 701. The storage basket 8 is placed on the lifting platform 13, which can be a scissor lift platform. The lifting platform 13 lifts the storage basket 8 to a higher position, shortening the height from which the fruit falls and reducing damage and bruising to the fruit.

[0036] It should be noted that the intelligent mobile picking vehicle 1 and the intelligent transfer vehicle 6 can achieve intelligent movement. The vehicle chassis are equipped with a GPS positioning system, an electric drive system, a vehicle steering system, and a vehicle control system. The intelligent vehicles use GPS positioning for path planning and sensors to identify the road surface and surrounding environment, along with external circuitry, to move within the orchard. The working principle block diagram of the intelligent mobile picking vehicle 1 and the intelligent transfer vehicle 6 is shown below. Figure 6 As shown.

[0037] When this invention is in operation, the two vehicles should be in a coupled state. The intelligent mobile picking vehicle 1 (as the mother vehicle) uses the fruit sensing depth camera 5 to perform image recognition on the fruit. First, it assesses the ripeness of the fruit by color, and then sends instructions to the fruit picking robotic arm 4. The fruit picking robotic arm 4 picks the apples and places them on the corresponding fruit conveyor belts 2, thus completing the first grading process of the fruit.

[0038] After harvesting, the fruits are lifted by the fruit elevator 3. After being lifted and transported, the fruits are transported through the flexible transmission pipe 1003 and the docking cylinder 1004 in the fruit transmission device 10 to the corresponding fruit rolling guide trough 7. As the fruits roll in the fruit rolling guide trough 7, they fall into the drop hole 701 of the corresponding size and are finally collected by the collection basket 8 below. This completes the second grading process of the fruits.

[0039] Weighing sensors 12 arranged under the base plate 11 detect the load weight. When the intelligent transfer vehicle 6 (as a sub-vehicle) reaches the set full load weight, the vehicle coupling device 9 connecting the intelligent transfer vehicle 6 (sub-vehicle) and the intelligent mobile picking vehicle 1 automatically disengages. The intelligent transfer vehicle 6 transports the apples to the designated collection point, and the next empty intelligent transfer vehicle 6 (sub-vehicle) docks with the intelligent mobile picking vehicle 1 (mother vehicle) (the docking of the vehicle coupling device 9 and the docking of the fruit transfer device 10). After docking is completed, the sub-vehicle shuts down its own drive system and moves forward under the traction of the mother vehicle, realizing uninterrupted apple picking operation.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. An intelligent vehicle for apple picking, grading, and collection, characterized in that, include: The intelligent mobile picking vehicle (1) has two parallel fruit conveyor belts (2) on its top. Each fruit conveyor belt (2) has a fruit elevator (3) at its end. Each fruit conveyor belt (2) has a corresponding fruit picking robotic arm (4) and a fruit sensing depth camera (5) above it. The intelligent transfer vehicle (6) is provided with two parallel fruit rolling guide channels (7). Each fruit rolling guide channel (7) has three sizes of dropping holes (701) arranged in order from small to large along the fruit entry direction. Each dropping hole (701) is provided with a storage basket (8) below it. The vehicle attachment device (9) includes a towing hook (901) and a towing seat (902); the towing hook (901) is fixed to the front of the intelligent transfer vehicle (6); the towing seat (902) is fixed to the rear of the intelligent mobile picking vehicle (1), the towing seat (902) is provided with a towing hole (903) that is inserted and cooperates with the towing hook (901), the towing seat (902) is provided with a vertical guide hole (904) that passes through the towing hole (903), and the vertical guide hole (904) is provided with a hook rod (905) that can move up and down and is inserted and cooperates with the towing hook (901). Fruit conveying device (10), the fruit conveying device (10) includes a bracket (1001), a support arm (1002) is provided below the bracket (1001), one end of the support arm (1002) is rotatably connected to the intelligent mobile picking vehicle (1), and the other end is rotatably connected to the bracket (1001). Two flexible conveying pipes (1003) are arranged side by side on the bracket (1001). One end of the flexible conveying pipe (1003) is connected to the discharge end of the corresponding fruit elevator (3), and the other end of the flexible conveying pipe (1003) is inserted into the docking cylinder (1004). The docking cylinder (1004) is fixed on the intelligent transfer vehicle (6), and the docking cylinder (1004) corresponds one-to-one with the fruit rolling guide chute (7). The traction seat (902) is provided with a guide rail (906) communicating with the vertical guide hole (904). The guide rail (906) is provided with a sliding rod (907) and a spring (908). One end of the spring (908) abuts against the guide rail (906), and the other end abuts against the rear end of the sliding rod (907). The sliding rod (907) is connected to the impact plate (909) provided in the traction hole (903). The front end of the sliding rod (907) is inserted into the reserved positioning groove of the hook rod (905). The top of the traction seat (902) is provided with a vertically arranged telescopic drive member (910), and a push plate (911) is provided above the telescopic drive member (910). The push plate (911) is fixed on the hook rod (905).

2. The intelligent vehicle for apple harvesting, grading, and collection according to claim 1, characterized in that: The intelligent transfer vehicle (6) has a base plate (11) on top, a weighing sensor (12) is arranged below the base plate (11), and a lifting platform (13) is arranged above the base plate (11) at a position corresponding to the drop hole (701). The storage basket (8) is arranged on the lifting platform (13).

3. The intelligent vehicle for apple harvesting, grading, and collection according to claim 2, characterized in that: The lifting platform (13) is a scissor lift platform.

4. The intelligent vehicle for apple harvesting, grading, and collection according to claim 1, characterized in that: The inner wall of the drop hole (701) is provided with several bristles (702).

5. The intelligent vehicle for apple harvesting, grading, and collection according to claim 1, characterized in that: The fruit rolling guide (7) is arranged at an angle along the direction in which the fruit enters.

6. The intelligent vehicle for apple harvesting, grading, and collection according to claim 1, characterized in that: The docking port of the docking cylinder (1004) is flared.

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