An intelligent identification device for pineapple picking

Abstract

The invention discloses an intelligent identification device for pineapple picking in the field of agricultural planting technology. The device comprises a mobile component, on which a plurality of picking components and receiving components corresponding to the picking components are arranged. The picking components all comprise an air pump, a picking rope and symmetrically arranged driving chambers. The picking ropes are provided with counterweights. Both ends of the picking ropes are fixedly connected with pistons, and the pistons are slidably matched with the inner side walls of adjacent driving chambers. A hole is opened on the side of any driving chamber close to the picking rope, and the hole is arranged above the picking rope. The driving chamber is connected with the outside through the hole, and a first electromagnetic valve is arranged at the connection point. The device also comprises a control system, which is used to control the operation of the air pump and the first electromagnetic valve according to the position and maturity state of the pineapple, so as to adjust the shape of the picking rope. The control system is also used to control the operation of the receiving component, so as to reduce the influence of the equipment on the pineapple plants during the pineapple picking process.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural planting, and in particular relates to intelligent identification equipment for pineapple picking. Background Art

[0002] Pineapple is the third largest tropical fruit crop in the world and the fourth largest in my country. It is widely loved by consumers for its sweet, delicious taste and rich vitamins. The main pineapple planting areas in my country involve Guangdong, Hainan, Fujian, Yunnan and other provinces and regions. Among them, Xuwen County, Zhanjiang City, Guangdong Province is the largest pineapple production base in China. It has the reputation of "one out of every three pineapples comes from Xuwen" in the country, with a planting area of ​​about 350,000 mu and an annual output of more than 900,000 tons. Although my country's pineapple planting area and output are among the highest in the world, the field production methods and management technologies are relatively backward. In addition, due to the diversification of pineapple planting agronomy, mechanized production and management of pineapples are difficult to implement, resulting in key links such as planting, field management (fertilization, flower induction, spraying, etc.), harvesting, and transportation basically relying on manual work. Pineapple is also a labor-intensive industry with a short production cycle and a large demand for labor. The aging of my country's population has aggravated the lack of rural labor and labor shortages, which have limited the development of the pineapple industry.

[0003] In the prior art, manual identification and picking are used to assist high-ground clearance crawler self-propelled pineapple harvesting vehicles for picking. Although the above scheme can greatly reduce the labor intensity of workers, this scheme can only assist workers in carrying pineapples in the field, and cannot assist workers in picking pineapples. The high degree of manual participation causes the labor cost to rise accordingly. In the prior art, a scheme of non-selective harvesting using image recognition combined with a flexible roller can solve the above problem, but when using this scheme, the flexible roller is prone to damage the pineapple buds and sucking buds, thereby affecting subsequent seedling cultivation. In the prior art, a scheme of image recognition combined with a mechanical claw is also used for selective harvesting, but this scheme adopts a one-by-one picking method, which is inefficient and difficult to adapt to large-scale picking scenarios. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent identification device for pineapple picking, so as to reduce the influence of the device on the pineapple plants during the pineapple picking process.

[0005] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: an intelligent identification device for pineapple picking, comprising a moving component, on which a plurality of picking components and receiving components corresponding to the picking components are arranged, the picking components all include an air pump, a picking rope and a symmetrically arranged driving chamber, the picking rope is provided with a counterweight, both ends of the picking rope are fixedly connected with pistons, and the pistons are slidably matched with the inner side walls of the adjacent driving chambers, a hole is opened on the side of any driving chamber close to the picking rope, and the hole is arranged above the picking rope, the driving chamber is connected to the outside through the hole, and a first solenoid valve is provided at the connection point, the air pump is used to drive the piston and the receiving component to work, the moving component is used to drive the picking component and the receiving component to move, and the receiving component is used to receive the pineapples picked by the picking component;

[0006] It also includes a control system, which is used to control the operation of the air pump and the first electromagnetic valve according to the position and maturity state of the pineapple, so as to adjust the shape of the harvesting rope. The control system is also used to control the operation of the receiving component.

[0007] Furthermore, the receiving components all include a receiving cavity, in which a receiving plate is slidably fitted, and the receiving cavity is connected to the air pump, a second solenoid valve is provided at the connection point, a receiving basket is provided under the receiving plate, and the receiving basket is fixedly connected to the moving component, and the control system is also used to control the operation of the second solenoid valve.

[0008] Furthermore, a plurality of fiber rings are fixedly connected to the top wall of the receiving plate.

[0009] Further, the control system includes a camera and a controller;

[0010] The camera is used to collect image information including pineapple;

[0011] The controller is used to obtain the position information and maturity information of the pineapple according to the image information, and control the operation of the air pump and the first solenoid valve according to the position information and the maturity information, so as to adjust the shape of the harvesting rope, and at the same time control the operation of the air pump and the second solenoid valve, so as to adjust the position of the receiving plate.

[0012] Furthermore, the harvesting rope is provided with a plurality of saw teeth.

[0013] Furthermore, the controller is also used to control the operation of the moving component according to the image information.

[0014] Furthermore, it also includes a communication module, and the controller can also control the operation of the communication module according to the image information and the number of times the picking component works.

[0015] Furthermore, the holes are arranged obliquely.

[0016] Furthermore, the moving component includes a high ground clearance chassis and a driving component, the driving component is used to drive the high ground clearance chassis to work, the top wall of the high ground clearance chassis is fixedly connected to a fixed frame, the fixed frame is slidably connected to a frame, the driving cavity and the receiving cavity are both opened on the frame, and the receiving basket and the air pump are both fixedly connected to the frame, the fixed frame is also fixedly connected to a cylinder, the cylinder is used to drive the frame to move up and down, and the controller controls the operation of the driving component and the cylinder according to the image information.

[0017] Furthermore, a third solenoid valve is provided at the connection point between the driving cavity and the air pump, and the controller controls the operation of the third solenoid valve according to the image information.

[0018] The technical principles and beneficial effects of the above scheme are as follows:

[0019] The design of the picking component in this device adjusts the height of the lowest position of the picking rope through an air pump, and forms a rope loop through holes, etc., which is put on the root of the pineapple, and then the picking rope is stretched. In this process, the picking rope is tightened to cut the root of the pineapple, and at the same time, the pineapple is driven to move diagonally upward, so that the root of the pineapple is broken, and the pineapple is picked. This solution is less affected by the planting location of the pineapple, and can achieve accurate picking of pineapples when facing pineapples with irregular growth positions. In addition, the structure of this device is simple, and the operation difficulty and cost of the device are relatively reduced.

[0020] Compared with the solution in the prior art that uses manual picking to assist with self-propelled harvesting vehicles, this solution has a lower manual participation rate, greatly reducing the labor cost of pineapple picking. Compared with the solution that uses flexible rollers for non-selective harvesting, the harvesting rope used in this solution can act more accurately on the roots of the pineapples, thereby greatly reducing the damage to the pineapple plants caused by the equipment during the pineapple picking process. At the same time, because this solution is not easily affected by the location of pineapple planting, it can harvest multiple pineapples at one time. Compared with the solution in the prior art that uses mechanical claws to harvest pineapples one by one, this solution has a higher harvesting efficiency and can adapt to a wide range of harvesting scenarios.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an axonometric diagram of an embodiment of the intelligent identification device for pineapple picking of the present invention;

[0023] Figure 2 It is a partial isometric view of a picking component and a receiving component of an embodiment of an intelligent identification device for pineapple picking of the present invention;

[0024] Figure 3It is a partial front view of a picking component and a receiving component of an embodiment of an intelligent identification device for pineapple picking of the present invention;

[0025] Figure 4 It is a cross-sectional view taken along line AA of an embodiment of an intelligent identification device for pineapple picking according to the present invention;

[0026] Figure 5 It is a BB cross-sectional view of an embodiment of the intelligent identification device for pineapple picking of the present invention;

[0027] Figure 6 It is a CC cross-sectional view of an embodiment of the intelligent identification device for pineapple picking of the present invention;

[0028] Figure 7 for Figure 3 The enlarged view of point D in the middle;

[0029] Figure 8 for Figure 5 Enlarged view of point E in the middle;

[0030] Fig. 9 The figure is a circuit diagram of an embodiment of the intelligent identification device for pineapple picking according to the present invention.

[0031] The figure marks in the drawings of the specification include: mobile component 1, high ground clearance chassis 11, fixed frame 12, diesel engine 13, frame 14, cylinder 15, picking component 2, harvesting rope 21, sawtooth 211, counterweight block 22, hole 23, hose 231, driving chamber 24, piston 25, receiving component 3, receiving plate 31, fiber ring 311, receiving basket 32, receiving chamber 33. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, 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 only used to explain the present invention, and cannot be understood as limiting the present invention.

[0033] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0035] The following is further described in detail through specific implementation methods:

[0036] Implementation example Figure 1 -Attached Fig. 9As shown: an intelligent identification device for pineapple picking, comprising a mobile component 1, the mobile component 1 comprises a high-ground clearance chassis 11 and a driving member, and in this embodiment, the high-ground clearance chassis 11 is a high-ground clearance crawler chassis, in this embodiment, the driving member is preferably a diesel engine 13, the driving member is used to drive the high-ground clearance chassis 11 to work, the top wall of the high-ground clearance chassis 11 is fixedly connected to a fixing frame 12 by bolts, the diesel engine 13 is fixedly connected to the fixing frame 12 by bolts, the fixing frame 12 is slidably connected to a frame 14 by a slide rail, and the fixing frame 12 is also fixedly connected to a cylinder 15 by bolts, and the cylinder 15 is used to drive the engine The frame 14 moves up and down, and a plurality of picking components 2 and receiving components 3 corresponding to the picking components 2 are arranged on the moving component 1. The picking components 2 include an air pump, a picking rope 21 and a symmetrically arranged driving chamber 24. The driving chamber 24 is opened on the frame 14. A counterweight block 22 is bonded and fixed at the center of the picking rope 21. Pistons 25 are bonded and fixed at both ends of the picking rope 21, and the pistons 25 are slidably matched with the inner side walls of the adjacent driving chambers 24. A hole 23 is opened on the side of any driving chamber 24 close to the picking rope 21, and the hole 23 is arranged above the picking rope 21. In this embodiment, it is located in the driving chamber 24. A hose 231 is provided on the piston 25, the other end of the hose 231 is connected to the hole 23, and a first solenoid valve is provided at the connection point. The drive chamber 24 is connected to the outside through the hole 23 and the hose 231, and the drive chamber 24 is connected to the air pump. The moving component 1 is used to drive the picking component 2 and the receiving component 3 to move; the receiving components 3 include a receiving chamber, which is opened on the frame 14, and a receiving plate 31 is slidably matched in the receiving chamber, and the receiving chamber is connected to the air pump, and a second solenoid valve is provided at the connection point. A receiving basket 32 ​​is provided under the receiving plate 31, and the receiving basket 32 ​​is fixedly connected to the frame 14 by bolts; it also includes The control system includes a camera and a controller. The camera is fixedly connected to the frame 14 by bolts, and the controller is fixedly connected to the fixing frame 12 by bolts. The camera, the first solenoid valve, the second solenoid valve and the air pump are all electrically connected to the controller. The camera is used to collect image information containing pineapples; the controller is used to obtain the position information and maturity information of the pineapples according to the image information, and control the operation of the air pump and the first solenoid valve according to the position information and the maturity information, so as to adjust the shape of the harvesting rope 21, and can also control the operation of the air pump and the second solenoid valve, so as to adjust the position of the receiving plate 31.

[0037] The specific implementation process is as follows: During the use of the device, the user starts the diesel engine 13, the diesel engine 13 drives the high ground clearance chassis 11 to move, drives the device to move to a suitable position in the pineapple field, and starts the oil cylinder 15 to move the frame 14 above the pineapple plant, then starts the device, the camera starts to collect image information of the pineapple in front of the device, the controller determines the position of the pineapple according to the image information, and judges the maturity of the pineapple according to the proportion of yellow pixels in the image information, when the proportion exceeds the set value, that is, the maturity of the pineapple meets the picking requirements, the controller controls the air pump to work, the air pump pumps gas into the drive chamber 24, the gas makes the air pressure in the drive chamber 24 rise, under the action of the air pressure, pushes the piston 25 to move, thereby shortening the distance between the two pistons 25, under the action of the gravity of the counterweight block 22, the harvesting rope 21 gradually folds, and its lowest position gradually moves down until the lowest position of the harvesting rope 21 moves to the closest pineapple in the image information. Root, during this process, the controller controls the first solenoid valve to work, and the gas entering the drive chamber 24 is ejected through the hose 231 and the hole 23, and sprayed on the harvesting rope 21, so that the air pressure above the harvesting rope 21 drops. Under the action of the air pressure, the harvesting rope 21 on this side moves obliquely upward. At the same time, due to the gravity of the counterweight block 22, the harvesting rope 21 on this side is only wound around the other side of the pineapple. Then the controller controls the first solenoid valve to close. Under the action of gravity, the harvesting rope 21 forms a rope loop, which is sleeved at the position of the root of the pineapple. Then the controller controls the air pump to work again. The air pressure causes the air pressure in the drive chamber 24 to drop. Under the action of the air pressure, the distance between the two pistons 25 is extended, thereby gradually straightening the harvesting rope 21. In this process, the harvesting rope 21 gives the pineapple an oblique upward force, so that the root of the pineapple begins to break from the side away from the intersection of the harvesting rope 21. At the same time, the rope loop formed by the harvesting rope 21 can also give the pineapple root a circumferential force, thereby accelerating the breakage of the pineapple root.

[0038] When the controller controls the air pump to pump air, the controller controls the second solenoid valve to open, so that the gas in the driving chamber 24 enters the receiving chamber, the gas volume in the receiving chamber expands, and the air pressure rises. Under the action of the air pressure, the receiving plate 31 is pushed downward to the position between the pineapple and the pineapple leaves. As the air pump pumps air, the root of the pineapple breaks, and the pineapple falls in the direction of the intersection of the harvesting rope 21 and falls on the receiving plate 31. At this time, the controller controls the second solenoid valve to close, maintain the air pressure in the receiving chamber, and turn off the air pump. The pineapple moves with the receiving plate 31 under the action of friction.

[0039] After the root of the pineapple breaks and falls off the pineapple stem, the user can start the diesel engine 13 again to drive the device forward to the front of the next row of pineapples and start picking the pineapples for washing. At the same time, the air pump is controlled to pump gas into the driving chamber 24, and the second solenoid valve is opened to allow the gas in the receiving chamber to enter the driving chamber 24. At this time, as the air pressure in the receiving chamber decreases, the receiving plate 31 is reset under the action of the air pressure. In this process, after the pineapple contacts the frame 14, the frame 14 limits the position of the pineapple until the receiving plate 31 is completely reset, and the pineapple loses support and falls into the receiving basket 32, completing one picking.

[0040] At the same time, since the air pressure in the receiving chamber is higher than the external air pressure, the distribution of gas molecules in the receiving chamber is denser, and the number of gas molecules per unit volume is greater. When the air pump extracts gas, the number of gas molecules inhaled each time will also increase accordingly. Compared with the solution of extracting gas from the outside into the driving chamber 24, this solution can drive the piston 25 to move more quickly, shortening the time for the lowest position of the harvesting rope 21 to reach the root of the pineapple, thereby shortening the time for picking pineapples. In addition, the design of the receiving component 3 in this solution enables the air pump to drive the receiving component 3 to work while driving the picking component 2, thereby reducing the energy consumption of the equipment and reducing the use cost of the equipment.

[0041] Based on the above scheme, in order to reduce the possibility of the pineapple detaching from the surface of the receiving plate 31 during the movement of the equipment and the receiving plate 31, thereby causing damage to the pineapple, a number of fiber rings 311 are bonded and fixed to the top wall of the receiving plate 31. Therefore, during use, when the pineapple is tipped over, the protrusions on the pineapple skin and the serrations 211 on the pineapple leaves come into contact with the fiber rings 311, and the protrusions on the skin and the serrations 211 on the leaves hook the fiber rings 311, thereby fixing the pineapple on the surface of the receiving plate 31, reducing the risk of the pineapple falling off the surface of the receiving plate 31.

[0042] Based on the above scheme, in order to further improve the speed of pineapple picking, a plurality of saw teeth 211 are integrally formed on the harvesting rope 21. Therefore, during use, the air pump works to change the air pressure in the driving chamber 24, thereby driving the harvesting rope 21 to stretch. In the process, the harvesting rope 21 moves circumferentially along the root of the pineapple, driving the saw teeth 211 to cut the root of the pineapple, thereby accelerating the breaking of the root of the pineapple and further shortening the time for pineapple picking.

[0043] Based on the above scheme, in order to reduce the user's working steps, the diesel engine 13 and the oil cylinder 15 are electrically connected to the controller, and the controller can also control the diesel engine 13 and the oil cylinder 15 to work according to the image information. Therefore, during use, when the root of the pineapple in the image information is broken, the controller controls the oil extraction machine to work and drives the equipment to continue to move forward until it moves to a thick position, thereby reducing the workload of the user during pineapple picking. At the same time, it can also reduce the time wasted from the root of the pineapple breaking to the user's discovery and reaction, further improving the efficiency of pineapple picking. At the same time, the controller can also control the oil cylinder 15 to adjust the height of the frame 14 according to the height of the pineapple in the graphic information, so that the frame 14 moves to above the highest pineapple in a row, so as to shorten the time required for the lowest position of the harvesting rope 21 to descend to the root of the pineapple.

[0044] Based on the above scheme, in order to facilitate the user to manage the pineapple picking process, a communication module is also included. The communication module is electrically connected to the controller. The controller can also control the operation of the communication module according to the image information and the number of times the picking component 2 works. Therefore, during the use of the device, the controller makes a preliminary assessment of the size and quality of the pineapples entering the receiving basket 32 ​​according to the image information, and calculates the number of pineapples of different sizes and qualities in the receiving basket 32 ​​according to the number of times the picking component 2 corresponding to the receiving basket 32 ​​works, so as to check the data such as the number of pineapples when stacking the pineapples later, thereby shortening the workload of the workers in the subsequent stacking process.

[0045] Based on the above scheme, in order to improve the success rate of the harvesting rope 21 forming a rope loop, the holes 23 are arranged obliquely. Therefore, during use, the obliquely arranged holes 23 can make the angle formed by the gas ejected from the holes 23 and the driving chamber 24 larger, thereby driving the angle of displacement of one end of the harvesting rope 21 to be larger. The obliquely arranged holes 23 make it difficult for the harvesting rope 21 to collide with the pineapple when the device faces a pineapple at a long distance, thereby reducing the probability of the harvesting rope 21 failing to form a rope loop.

[0046] Based on the above scheme, in order to facilitate the equipment to adapt to more usage scenarios, a third solenoid valve is provided at the connection point between the drive chamber 24 and the air pump, and the third solenoid valve is electrically connected to the controller. The controller controls the operation of the third solenoid valve according to the image information. Therefore, during use, when the lowest position of the harvesting rope 21 and the root of the pineapple are not on the same vertical plane in the image information, the controller first controls one of the third solenoid valves to work, so that the air pump only pumps air to one side, thereby changing the plane where the lowest position of the harvesting rope 21 is located, until the lowest position of the harvesting rope 21 is adjusted to the same vertical plane as the root of the pineapple, and then the air pump is controlled to work to change the horizontal plane where the lowest position of the harvesting rope 21 is located, and the pineapples are picked, thereby reducing the failure of the rope loop formation caused by the pineapple deviating too much from the center position of the harvesting rope 21, so that the equipment can adapt to pineapple fields with different planting densities.

[0047] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and / or characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An intelligent identification device for pineapple picking, characterized in that: It comprises a moving assembly, on which are arranged a plurality of picking assemblies and receiving assemblies corresponding to the picking assemblies, the picking assemblies all comprise an air pump, a picking rope and a symmetrically arranged driving chamber, the picking rope is provided with a counterweight, both ends of the picking rope are fixedly connected with pistons, and the pistons are slidably matched with the inner side walls of the adjacent driving chambers, a hole is opened on the side of any driving chamber close to the picking rope, and the hole is arranged above the picking rope, the driving chamber is connected with the outside through the hole, and a first electromagnetic valve is provided at the connection point, the air pump is used to drive the piston and the receiving assembly to work, the moving assembly is used to drive the picking assembly and the receiving assembly to move, and the receiving assembly is used to receive pineapples picked by the picking assembly; It also includes a control system, which is used to control the operation of the air pump and the first electromagnetic valve according to the position and maturity state of the pineapple, so as to adjust the shape of the harvesting rope. The control system is also used to control the operation of the receiving component.

2. The intelligent identification device for pineapple picking according to claim 1, characterized in that: The receiving components all include a receiving cavity, in which a receiving plate is slidably fitted, and the receiving cavity is connected to the air pump, a second solenoid valve is provided at the connection point, a receiving basket is provided under the receiving plate, and the receiving basket is fixedly connected to the moving component, and the control system is also used to control the operation of the second solenoid valve.

3. The intelligent identification device for pineapple picking according to claim 2 is characterized in that: A plurality of fiber rings are fixedly connected to the top wall of the receiving plate.

4. The intelligent identification device for pineapple picking according to claim 3 is characterized in that: The control system includes a camera and a controller; The camera is used to collect image information including pineapple; The controller is used to obtain the position information and maturity information of the pineapple according to the image information, and control the operation of the air pump and the first solenoid valve according to the position information and the maturity information, so as to adjust the shape of the harvesting rope, and also control the operation of the air pump and the second solenoid valve to adjust the position of the receiving plate.

5. The intelligent identification device for pineapple picking according to claim 4 is characterized in that: The harvesting rope is provided with a number of saw teeth.

6. The intelligent identification device for pineapple picking according to claim 5, characterized in that: The controller also controls the movement of the moving components according to the image information.

7. The intelligent identification device for pineapple picking according to claim 6, characterized in that: It also includes a communication module, and the controller controls the operation of the communication module according to the image information and the number of times the picking component works.

8. The intelligent identification device for pineapple picking according to claim 7, characterized in that: The holes are arranged obliquely.

9. The intelligent identification device for pineapple picking according to claim 8, characterized in that: The moving assembly includes a high ground clearance chassis and a driving member, wherein the driving member is used to drive the high ground clearance chassis to work, the top wall of the high ground clearance chassis is fixedly connected to a fixed frame, a frame is slidably connected to the fixed frame, a driving cavity and a receiving cavity are both opened on the frame, and a receiving basket and an air pump are both fixedly connected to the frame, an oil cylinder is also fixedly connected to the fixed frame, and the oil cylinder is used to drive the frame to move up and down, and a controller controls the operation of the driving member and the oil cylinder according to image information.

10. The intelligent identification device for pineapple picking according to claim 9, characterized in that: A third electromagnetic valve is provided at the connection point between the driving cavity and the air pump, and the controller controls the operation of the third electromagnetic valve according to the image information.

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