A robot for intelligent monitoring of fruit maturity

Abstract

The present invention discloses a robot for intelligent monitoring of fruit maturity, which belongs to the technical field of fruit maturity monitoring, and comprises a robot body, a mechanical arm, and a clamping mechanism; a controller is installed on the robot body; the mechanical arm is installed on the robot body; the mechanical arm comprises a main support arm, a secondary support wall, a first cylinder and a second cylinder in sequence, the main support arm is rotatably connected to the robot body, and the secondary support wall is rotatably connected to the main support arm. The present invention obtains the gas containing ethylene in the bag by inserting a needle into the bag, first injecting gas and then exhausting gas, and utilizes the principle that fruits with different maturity secrete different ethylene. By detecting the ethylene concentration in the gas, the maturity of the fruit in the paper bag can be intelligently monitored, and the development of robot harvesting technology can be effectively promoted; at the same time, for unripe fruits, high-concentration ethylene gas can be injected into the bag to ripen them, which accelerates the maturity of the fruit, shortens the harvesting time, and saves manpower and material resources.

Description

Technical Field

[0001] The invention belongs to the technical field of fruit maturity monitoring, and in particular relates to an intelligent monitoring robot for fruit maturity. Background Art

[0002] Currently, agricultural production is plagued by labor shortages, which has severely restricted the further expansion of production scale. In order to break through this bottleneck, the implementation of automation has become a key way to improve agricultural productivity, which has also made robotic harvesting technology attract much attention.

[0003] The maturity, quantity and size of fruits are key indicators for assessing harvest timing and quality grade. Today's robotic harvesting systems generally use advanced visual perception monitoring methods to accurately classify crop maturity into two categories: harvestable and non-harvestable, and combine them with precision harvesting procedures to complete the operation. However, with the popularization of fruit bagging technology, the method of visual perception monitoring of fruit maturity has become increasingly limited, especially for fruits in paper bags, where it is impossible to monitor fruit maturity through visual perception methods, which seriously hinders the development of robotic harvesting technology.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a kind of intelligent monitoring robot for fruit maturity.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to provide a robot for intelligently monitoring the maturity of fruits, which can solve the problem that when facing fruits in paper bags, it is completely impossible to monitor the maturity of fruits through visual perception, which seriously hinders the development of robot harvesting technology.

[0007] In order to achieve the above object, a technical solution provided by a specific embodiment of the present invention is as follows:

[0008] A robot for intelligent monitoring of fruit maturity, comprising a robot body, a mechanical arm, and a gripper mechanism;

[0009] A controller is installed on the machine body;

[0010] The mechanical arm is mounted on the machine body;

[0011] The mechanical arm comprises a main support arm, a secondary support wall, a first cylinder and a second cylinder in sequence, wherein the main support arm is rotatably connected to the machine body, the secondary support wall is rotatably connected to the main support arm, the first cylinder is rotatably connected to the secondary support wall, and the second cylinder is rotatably connected to the first cylinder;

[0012] The clamping mechanism is mounted on the second cylinder, and a visual monitoring camera is fixedly mounted on the clamping mechanism;

[0013] The clamp mechanism comprises a mounting seat, a first claw portion and a second claw portion, wherein the mounting seat is fixedly mounted on the end of the second cylinder, and the first claw portion and the second claw portion are rotatably connected to the mounting seat respectively;

[0014] The second claw is provided with a built-in slot inside, a metal block is slidably connected inside the built-in slot, a needle tube is fixedly installed at one end of the metal block, a through hole is provided at one end of the built-in slot, the needle tube passes through the through hole, and a telescopic driving component capable of driving the needle tube to telescope is installed inside the built-in slot;

[0015] An ethylene concentration analyzer is fixedly mounted on the second cylinder, an ethylene concentration sensor is fixedly mounted inside the ethylene concentration analyzer, a pumping pipeline is fixedly mounted on the second claw, an air pump and a first three-way valve are fixedly mounted on the pumping pipeline, one end of the first three-way valve is connected to one end of the air pump, and the other two ends of the first three-way valve are respectively connected to the outside and the inside of the ethylene concentration analyzer;

[0016] The first claw is connected with a blocking marking mechanism.

[0017] In one or more embodiments of the present invention, the telescopic drive assembly includes a compression spring and an electromagnetic block, wherein the compression spring is fixedly mounted between the metal block and the inner wall of one end of the built-in slot, and the electromagnetic block is fixedly mounted on the inner wall of the other end of the built-in slot.

[0018] In one or more embodiments of the present invention, a hose is fixedly mounted on one end of the metal block, and one end of the exhaust pipeline is connected to the inside of the needle tube through the hose.

[0019] In one or more embodiments of the present invention, a second three-way valve is fixedly installed on one end of the first three-way valve connected to the inside of the ethylene concentration analysis device, and one end of the extraction pipeline is indirectly connected to the inside of the ethylene concentration analysis device through the second three-way valve;

[0020] High-concentration ethylene gas is stored in the first cylinder, and one end of the exhaust pipeline away from the second claw is connected to the interior of the first cylinder.

[0021] In one or more embodiments of the present invention, a filter is fixedly installed on one end of the first three-way valve connected to the outside.

[0022] In one or more embodiments of the present invention, the blocking marking mechanism includes a nozzle, and the nozzle is fixedly mounted on the first claw;

[0023] A liquid supply pipeline is fixedly installed on the first claw, a second liquid pump is fixedly installed on the liquid supply pipeline, one end of the liquid supply pipeline is connected to a liquid supply component, and the liquid supply component is used to provide spraying medium for the spray head.

[0024] In one or more embodiments of the present invention, the liquid supply assembly includes a plurality of liquid storage chambers disposed inside the second cylinder, wherein the plurality of liquid storage chambers respectively store silica gel slurries of different colors;

[0025] A plurality of groups of liquid injection ports and a plurality of groups of liquid outlet pipes are fixedly mounted on the second cylinder, and the plurality of groups of liquid injection ports and the plurality of groups of liquid outlet pipes are matched with the plurality of groups of liquid storage chambers;

[0026] The plurality of groups of liquid outlet pipes are all connected to the liquid supply pipeline, and the plurality of groups of liquid outlet pipes are all fixedly mounted with a first solenoid valve.

[0027] In one or more embodiments of the present invention, the liquid supply assembly includes a pigment chamber and a glue chamber disposed inside the second cylinder, the glue chamber stores transparent silica gel slurry inside, and the pigment chamber stores pigment liquid inside;

[0028] One end of the liquid supply pipeline is connected to the inside of the glue chamber, and a second solenoid valve is fixedly installed on the liquid supply pipeline;

[0029] A first liquid pump is fixedly mounted on the second cylinder, the input end of the first liquid pump extends into the interior of the pigment chamber, a mixing assembly is fixedly mounted on the liquid supply pipeline, and the output end of the first liquid pump is connected to the mixing assembly.

[0030] In one or more embodiments of the present invention, the mixing assembly includes a mixing cylinder, the mixing cylinder is fixedly mounted on the liquid supply pipeline, a slow-release cylinder is fixedly mounted inside the mixing cylinder, and the output end of the first liquid pump is connected to the inside of the slow-release cylinder;

[0031] The sustained-release cylinder is provided with a plurality of micro-holes.

[0032] In one or more embodiments of the present invention, a walking mechanism is installed on the machine body;

[0033] The machine body is provided with a plurality of storage slots.

[0034] Compared with the prior art, the present invention obtains the gas containing ethylene in the bag by inserting a needle into the bag, injecting gas first and then exhausting gas, and utilizing the principle that fruits of different maturity secrete different ethylene. By detecting the ethylene concentration in the gas, the maturity of the fruit in the paper bag can be intelligently monitored, which effectively promotes the development of robot harvesting technology. At the same time, unripe fruits can be ripened by injecting high-concentration ethylene gas into the bag, which accelerates the maturity of the fruit, shortens the harvesting time, and saves manpower and material resources.

[0035] The sealing marking mechanism can mark fruits of different maturity levels to assess the timing of harvesting and subsequent classification of quality grades. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a structural diagram of a robot for intelligent monitoring of fruit maturity in one embodiment of the present invention;

[0038] Figure 2 The local structure of a mechanical arm of a fruit maturity intelligent monitoring robot in one embodiment of the present invention Figure 1 ;

[0039] Figure 3 The local structure of a mechanical arm of a fruit maturity intelligent monitoring robot in one embodiment of the present invention Figure 2 ;

[0040] Figure 4 A partial top view of a mechanical arm of a fruit maturity intelligent monitoring robot in one embodiment of the present invention Figure 1 ;

[0041] Figure 5 A partial top view of a mechanical arm of a fruit maturity intelligent monitoring robot in one embodiment of the present invention Figure 2 ;

[0042] Figure 6 It is a cross-sectional view of a mixing barrel for a fruit maturity intelligent monitoring robot in one embodiment of the present invention;

[0043] Figure 7 A fruit maturity intelligent monitoring robot according to an embodiment of the present invention Figure 2 Enlarged view of point A in the middle;

[0044] Figure 8 A fruit maturity intelligent monitoring robot according to an embodiment of the present invention Figure 2 Enlarged view of point B in the middle;

[0045] Fig. 9 It is a top view of a cross-sectional view of a second claw of a robot for intelligent monitoring of fruit maturity in a first use state in one embodiment of the present invention;

[0046] Fig.10 The present invention is a top view of a second claw of a robot for intelligently monitoring the maturity of fruits in a second usage state according to an embodiment of the present invention.

[0047] Description of main reference numerals:

[0048] 10. Machine body; 11. Storage tank; 20. Main arm; 30. Controller; 40. Secondary support wall; 50. First cylinder; 51. Air injection port; 52. Air outlet; 60. Second cylinder; 61. Liquid injection port; 62. Liquid outlet pipe; 621. First solenoid valve; 63. Liquid storage chamber; 64. Color chamber; 65. First liquid pump; 66. Glue chamber; 70. Claw mechanism; 71. Mounting seat; 72. First claw; 721. Spray head; 73. Second claw; 731. Internal slot; 732. Metal block; 732 1. Hose; 733. Compression spring; 734. Needle tube; 735. Electromagnetic block; 736. Through hole; 74. Pumping and exhaust pipeline; 741. Air pump; 742. First three-way valve; 7421. Filter; 743. Second three-way valve; 75. Liquid supply pipeline; 751. Second liquid pump; 752. Second electromagnetic valve; 753. Mixing cylinder; 7531. Slow-release cylinder; 7532. Micropore; 80. Visual monitoring camera; 90. Ethylene concentration analysis device; 91. Air inlet; 92. Exhaust port; 93. Ethylene concentration sensor. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0050] like Figure 1-Figure 10As shown, a robot for intelligent monitoring of fruit maturity in one embodiment of the present invention includes a robot body 10, a robot arm, a gripper mechanism 70 and a visual monitoring camera 80. A walking mechanism is installed on the robot body 10, and the walking mechanism can be a motor drive wheel or a crawler installed on both sides. The robot body 10 is provided with multiple groups of storage slots 11, and the multiple groups of storage slots 11 are used to classify and hold the picked fruits.

[0051] A controller 30 is fixedly mounted on one side of the robot body 10 . The controller 30 is a control panel capable of realizing human-machine interaction so as to control the operation of the robot.

[0052] The mechanical arm is installed at the top of the machine body 10, and the mechanical arm includes a main arm 20, a secondary support wall 40, a first cylinder 50 and a second cylinder 60 in sequence. The main arm 20 is rotatably connected to the machine body 10, the secondary support wall 40 is rotatably connected to the main arm 20, the first cylinder 50 is rotatably connected to the secondary support wall 40, and the second cylinder 60 is rotatably connected to the first cylinder 50. Among them, motors or rotary cylinders are installed at the connection nodes between the main arm 20, the secondary support wall 40, the first cylinder 50 and the second cylinder 60, which are used to drive the operation of the mechanical arm.

[0053] The clamping mechanism 70 is fixedly mounted on the end of the second cylinder 60, and a visual monitoring camera 80 is fixedly mounted on the top of the clamping mechanism 70. The visual monitoring camera 80 is used to obtain the location of the fruit and the state of the fruit. For unbagged fruits, the color, size and other appearance of the fruit can be obtained by the visual monitoring camera 80 to monitor the maturity of the fruit. For fruits in paper bags, since the visual monitoring camera 80 cannot obtain the color, size and other appearance of the fruit, the ethylene concentration can be analyzed to monitor the maturity of the fruit.

[0054] The clamp mechanism 70 includes a mounting seat 71, a first claw portion 72 and a second claw portion 73. The mounting seat 71 is fixedly mounted on the end of the second cylinder 60, and the first claw portion 72 and the second claw portion 73 are respectively rotatably connected to the mounting seat 71. The first claw portion 72 and the second claw portion 73 can be opened and closed automatically to achieve the grasping and picking of fruits.

[0055] like Fig. 9 and Fig.10 As shown, the second claw 73 is provided with an internal slot 731, a metal block 732 is slidably connected to the internal slot 731, and a needle tube 734 is fixedly connected to one side of the metal block 732. A through hole 736 is provided on one side of the internal slot 731, one side of the needle tube 734 is inserted into the internal slot 736, and the needle tube 734 can pass through the through hole 736 and extend outward.

[0056] Among them, a telescopic driving component capable of driving the needle tube 734 to extend and retract is installed inside the built-in slot 731. The telescopic driving component includes a compression spring 733 and an electromagnetic block 735. The compression spring 733 is fixedly installed between the metal block 732 and the inner wall on one side of the built-in slot 731. In the natural state, the compression spring 733 is in a compressed state, which can limit the metal block 732 and prevent the needle tube 734 from sliding out naturally.

[0057] The electromagnetic block 735 is fixedly mounted on the inner wall on the other side of the built-in slot 731. After being energized, the electromagnetic block 735 instantly becomes magnetic and can attract the metal block 732, forcing the metal block 732 to slide quickly to the side close to the electromagnetic block 735, thereby driving the needle tube 734 to extend quickly for insertion into the bag.

[0058] Specifically, the status information of the paper bag is first obtained through the visual monitoring camera 80, and the corners of the paper bag are located. After the first claw 72 moves to the specified corner and controls the distance, the electromagnetic block 735 can be energized to make the needle tube 734 extend quickly and insert into the bag from the corner, which can effectively avoid the fruit and prevent the needle tube 734 from damaging the fruit when inserted.

[0059] like Figure 4 and Figure 8 As shown, an ethylene concentration analyzer 90 is fixedly installed on the outer wall of the second cylinder 60, and an air inlet 91 and an exhaust port 92 are respectively provided on one end face of the ethylene concentration analyzer 90. Gas can be injected into the ethylene concentration analyzer 90 through the air inlet 91 and then discharged through the exhaust port 92.

[0060] An ethylene concentration sensor 93 is fixedly installed inside the ethylene concentration analysis device 90 . The ethylene concentration sensor 93 can detect the concentration of ethylene in the gas when the gas passes through the ethylene concentration analysis device 90 .

[0061] like Figure 2-Figure 4 As shown, a pumping pipeline 74 is fixedly installed on the second claw 73, and an air pump 741, a first three-way valve 742 and a second three-way valve 743 are fixedly installed on the pumping pipeline 74 in sequence. Among them, the air pump 741 can be used in both positive and negative directions, and can drive both air extraction and air injection.

[0062] like Fig. 9 and Fig.10 As shown, a hose 7321 is fixedly installed on one side of the metal block 732, one side of the hose 7321 is connected to the interior of the needle tube 734, and the other side of the hose 7321 passes through the interior of the compression spring 733 and is connected to the interior of the exhaust pipeline 74, that is, one end of the exhaust pipeline 74 is indirectly connected to the interior of the needle tube 734 through the hose 7321.

[0063] Specifically, when the needle tube 734 is inserted into the bag, the extraction pipeline 74 can establish a passage with the bag through the needle tube 734. At this time, the air pump 741 can be started to inject and extract air into the bag.

[0064] like Figure 2 and Figure 7 As shown, one end of the first three-way valve 742 is connected to one end of the air pump 741, and one of the other two ends of the first three-way valve 742 is fixedly installed with a filter 7421, and the filter 7421 is directly exposed to the external air and can filter and purify the extracted external air; the other port is connected to the second three-way valve 743.

[0065] like Figure 8 As shown, one port of the second three-way valve 743 is connected to the air inlet 91 , that is, the exhaust pipeline 74 is switched to the air inlet 91 through the second three-way valve 743 .

[0066] Specifically, after the needle tube 734 is inserted into the bag, the first three-way valve 742 is used to control the extraction of external air and inject it into the bag. After the external air is injected into the bag, the ethylene secreted from the surface of the fruit will diffuse into the air in the bag to form the gas to be tested. Then, the filter 7421 is closed by the first three-way valve 742, and the second three-way valve 743 is used to control the connection with the inside of the ethylene concentration analysis device 90, so that the air pump 741 can extract the gas to be tested and inject it into the inside of the ethylene concentration analysis device 90. The ethylene concentration sensor 93 inside the ethylene concentration analysis device 90 detects the ethylene concentration in the gas to be tested, and the maturity of the fruit is judged according to the ethylene concentration, and the maturity of the fruit is divided into: green-ripe, ripe, ripe and fully ripe. When the fruit reaches at least the ripening stage, it is considered that the fruit is ripe and suitable for harvesting, storage and transportation. At this time, the fruit is grabbed and picked by the first claw 72 and the second claw 73, and stored in different storage slots 11 according to the maturity classification; when the fruit is in the green-ripe stage, it is considered that the fruit is immature and not suitable for picking.

[0067] like Figure 2 As shown, high-concentration ethylene gas is stored inside the first cylinder 50, and a gas injection port 51 and a gas outlet 52 are provided on the first cylinder 50. The gas injection port 51 is used to inject high-concentration ethylene gas into the first cylinder 50, and a one-way valve is provided on the gas injection port 51 to prevent the gas inside the first cylinder 50 from leaking out. The other end of the second three-way valve 743 is connected to the gas outlet 52, that is, a gas passage is established between the extraction pipeline 74 and the first cylinder 50, so that the high-concentration ethylene gas inside the first cylinder 50 can be extracted.

[0068] Specifically, when it is determined that the fruit is in the green-ripe stage by detecting the ethylene concentration, the second three-way valve 743 is used to control the exhaust pipeline 74 to be disconnected from the inside of the ethylene concentration analysis device 90, and then the air pump 741 is started to extract the high-concentration ethylene gas inside the first cylinder 50 and inject it into the bag through the needle 734. The high-concentration ethylene is used to ripen the fruit in the green-ripe stage and accelerate the ripening of the fruit, especially when bad weather is about to come, so that the fruit can be picked before the bad weather arrives and the interests of fruit farmers can be protected.

[0069] It is worth noting that the ripening rate of the fruit can be controlled by controlling the injection amount of high-concentration ethylene gas according to the degree of ripeness of the fruit, so that the fruits in the green and ripe stages can basically mature at the same time and be picked at the same time, without the need for secondary monitoring.

[0070] like Figure 3 As shown, a blocking marking mechanism is connected to the first claw 72. The blocking marking mechanism includes a nozzle 721, which is fixedly mounted on the first claw 72. A liquid supply pipeline 75 is fixedly connected to the first claw 72, and a second liquid pump 751 is fixedly mounted on the liquid supply pipeline 75, through which the spraying medium can be pumped and delivered to the first claw 72 for spraying.

[0071] like Figure 4 As shown, one end of the liquid supply pipeline 75 is connected to a liquid supply assembly, which may include three groups of liquid storage chambers 63 arranged inside the second cylinder 60, and three groups of liquid storage chambers 63 respectively store three different colors of silica gel slurry.

[0072] Three groups of liquid injection ports 61 and three groups of liquid outlet pipes 62 are fixedly installed on the second cylinder 60, wherein the three groups of liquid injection ports 61 and the three groups of liquid outlet pipes 62 are respectively connected to the interior of the three groups of liquid storage chambers 63, and silica gel slurry can be added to the interior of the three groups of liquid storage chambers 63 through the three groups of liquid injection ports 61, and the silica gel slurry inside the three groups of liquid storage chambers 63 can be extracted through the three groups of liquid outlet pipes 62.

[0073] The three groups of liquid outlet pipes 62 are connected in parallel with the liquid supply pipeline 75, and the three groups of liquid outlet pipes 62 are fixedly installed with a first solenoid valve 621, which can control the opening and closing of the corresponding liquid outlet pipe 62 so as to extract the corresponding color of silica gel slurry according to demand.

[0074] Specifically, the colors of the three different colors of silica gel slurry can be green, orange and red, respectively, wherein green corresponds to the fruit in the green-ripe stage, orange corresponds to the fruit in the ripening and ripening stages, and red corresponds to the fruit in the fully ripe stage.

[0075] When the fruit in the green-ripe stage is monitored, high-concentration ethylene gas is first injected, and after the needle tube 734 is pulled out, the green silicone slurry can be extracted through the second liquid pump 751, and sprayed through the nozzle 721 to the socket left by the needle tube 734. The silicone slurry can be used to block the socket to achieve the repair of the paper bag, and the green silicone slurry can play a marking role to achieve the marking of the green-ripe stage fruit, so that it can be avoided during the subsequent monitoring and picking process to prevent repeated monitoring. When the fruit in the transition and ripe stages is monitored, after the needle tube 734 is pulled out, the orange silicone slurry can be directly extracted through the second liquid pump 751 and sprayed on the socket left by the needle tube 734; and when the fully ripe fruit is monitored, the red silicone slurry is directly extracted and sprayed on the socket left by the needle tube 734, so that the paper bag can be repaired and the fruits of different maturity can be marked so that they can be classified according to the quality of the fruit after picking.

[0076] like Figure 5 As shown, the liquid supply component may also include a pigment chamber 64 and a glue chamber 66 disposed inside the second cylinder 60, wherein the glue chamber 66 stores transparent silica gel slurry, and the pigment chamber 64 stores pigment liquid of a fixed color, taking yellow pigment liquid as an example.

[0077] One end of the liquid supply pipeline 75 is connected to the inside of the glue chamber 66 . A second solenoid valve 752 is fixedly installed on the liquid supply pipeline 75 . The second solenoid valve 752 can control the connection and disconnection between the liquid supply pipeline 75 and the glue chamber 66 .

[0078] A first liquid pump 65 is fixedly mounted on the outer wall of the second cylinder 60 . The input end of the first liquid pump 65 extends into the interior of the pigment cavity 64 , and can extract the yellow pigment liquid in the pigment cavity 64 .

[0079] like Figure 6 As shown, a mixing assembly is fixedly installed on the liquid supply pipeline 75, and the mixing assembly includes a mixing cylinder 753, which is fixedly installed on the liquid supply pipeline 75, and a slow-release cylinder 7531 is fixedly installed inside the mixing cylinder 753, and the output end of the first liquid pump 65 is connected to the inside of the slow-release cylinder 7531. In other words, the first liquid pump 65 can extract the yellow pigment liquid inside the pigment chamber 64 and inject it into the slow-release cylinder 7531.

[0080] The slow-release cylinder 7531 is provided with a plurality of micropores 7532 , through which the yellow pigment liquid can be evenly released into the interior of the mixing cylinder 753 .

[0081] Specifically, the transparent silica gel slurry in the glue chamber 66 can be first drawn into the mixing cylinder 753 through the second liquid pump 751, and then a certain amount of yellow pigment liquid in the pigment chamber 64 can be drawn through the first liquid pump 65, first injected into the slow-release cylinder 7531, and then evenly released into the transparent silica gel slurry in the mixing cylinder 753 through a number of micropores 7532, so as to realize coloring of the transparent silica gel slurry. When the amount of yellow pigment liquid is small, the color of the silica gel slurry is lighter, and when the amount of yellow pigment liquid is large, the color of the silica gel slurry is darker. The specific color depth of the silica gel slurry can correspond to the specific maturity of the fruit, so as to prepare the corresponding color of the silica gel slurry according to the maturity of the fruit. After the silica gel slurry is prepared, it is also sprayed out through the nozzle 721 to the jack left by the needle tube 734, so as to realize the repair of the paper bag and the marking of the fruit; the difference is that the color depth of the silica gel slurry can be modulated step by step, so as to realize a more refined marking of the maturity of the fruit, so as to more accurately monitor, identify and classify the maturity of the fruit.

[0082] When in use, the position of the fruit in the paper bag and the state of the paper bag are first detected by the visual monitoring camera 80, and the needle tube 734 inside the second claw 73 is aligned with the corner of the paper bag and the distance is controlled to ensure that the fruit will not be damaged. Then the needle tube 734 is controlled to extend quickly and inserted into the bag. First, external air is drawn into the bag to allow the ethylene secreted on the surface of the fruit to diffuse into the air in the bag to form a gas to be tested. Then, the gas to be tested is drawn and injected into the ethylene concentration analysis device 90. The ethylene concentration sensor 93 inside the ethylene concentration analysis device 90 is used to detect and analyze the ethylene concentration to determine the maturity of the fruit in the bag, thereby realizing intelligent monitoring of the maturity of the fruit.

[0083] Subsequently, the needle tube 734 is pulled out, and the nozzle 721 is aligned with the insertion hole left by the needle tube 734. The silicone slurry of the color corresponding to the maturity of the fruit is extracted and sprayed through the nozzle 721. The silicone slurry is used to seal the insertion hole and mark the fruit according to its maturity to prevent repeated monitoring of the fruit in the green-ripe stage. At the same time, it is convenient for the classification of the fruit in the ripening, mature and fully ripe stages after picking.

[0084] Finally, the first claw 72 and the second claw 73 are used to grab and pick the fruits at the ripe, ripe and fully ripe stages, and store them in the corresponding storage grooves 11 according to their classification.

[0085] The present invention obtains the gas containing ethylene in the bag by inserting the needle tube 734 into the bag, injecting gas first and then exhausting gas, and utilizing the principle that fruits of different maturity secrete different ethylene. By detecting the ethylene concentration in the gas, the maturity of the fruit in the paper bag can be intelligently monitored, effectively promoting the development of robot harvesting technology; at the same time, unripe fruits can be ripened by injecting high-concentration ethylene gas into the bag, thereby accelerating the maturity of the fruit, shortening the harvesting time, and saving manpower and material resources;

[0086] The sealing marking mechanism can mark fruits of different maturity levels to assess the timing of harvesting and subsequent classification of quality grades.

[0087] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0088] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description 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 may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot for intelligent monitoring of fruit maturity, characterized in that: include: A machine body, wherein a controller is installed on the machine body; A mechanical arm, the mechanical arm being mounted on the machine body; The mechanical arm comprises a main support arm, a secondary support wall, a first cylinder and a second cylinder in sequence, wherein the main support arm is rotatably connected to the machine body, the secondary support wall is rotatably connected to the main support arm, the first cylinder is rotatably connected to the secondary support wall, and the second cylinder is rotatably connected to the first cylinder; A clamping mechanism, wherein the clamping mechanism is mounted on the second cylinder, and a visual monitoring camera is fixedly mounted on the clamping mechanism; The clamp mechanism comprises a mounting seat, a first claw portion and a second claw portion, wherein the mounting seat is fixedly mounted on the end of the second cylinder, and the first claw portion and the second claw portion are rotatably connected to the mounting seat respectively; The second claw is provided with a built-in slot inside, a metal block is slidably connected inside the built-in slot, a needle tube is fixedly installed at one end of the metal block, a through hole is provided at one end of the built-in slot, the needle tube passes through the through hole, and a telescopic driving component capable of driving the needle tube to telescope is installed inside the built-in slot; An ethylene concentration analyzer is fixedly mounted on the second cylinder, an ethylene concentration sensor is fixedly mounted inside the ethylene concentration analyzer, a pumping pipeline is fixedly mounted on the second claw, an air pump and a first three-way valve are fixedly mounted on the pumping pipeline, one end of the first three-way valve is connected to one end of the air pump, and the other two ends of the first three-way valve are respectively connected to the outside and the inside of the ethylene concentration analyzer; The first claw is connected to a blocking marking mechanism; The telescopic drive assembly includes a compression spring and an electromagnetic block, wherein the compression spring is fixedly mounted between the metal block and the inner wall of one end of the built-in slot, and the electromagnetic block is fixedly mounted on the inner wall of the other end of the built-in slot; A hose is fixedly mounted on one end of the metal block, and one end of the extraction pipeline is connected to the inside of the needle tube through the hose; A second three-way valve is fixedly installed on one end of the first three-way valve connected to the inside of the ethylene concentration analysis device, and one end of the extraction pipeline is indirectly connected to the inside of the ethylene concentration analysis device through the second three-way valve; High-concentration ethylene gas is stored in the first cylinder, and one end of the exhaust pipeline away from the second claw is connected to the interior of the first cylinder.

2. The intelligent monitoring robot for fruit maturity according to claim 1, characterized in that: A filter is fixedly installed on one end of the first three-way valve connected to the outside.

3. The intelligent monitoring robot for fruit maturity according to claim 1, characterized in that: The blocking marking mechanism includes a nozzle, and the nozzle is fixedly mounted on the first claw; A liquid supply pipeline is fixedly installed on the first claw, a second liquid pump is fixedly installed on the liquid supply pipeline, one end of the liquid supply pipeline is connected to a liquid supply component, and the liquid supply component is used to provide spraying medium for the spray head.

4. The intelligent monitoring robot for fruit maturity according to claim 3 is characterized in that: The liquid supply assembly comprises a plurality of liquid storage chambers arranged inside the second cylinder, wherein the plurality of liquid storage chambers respectively store silica gel slurries of different colors; A plurality of groups of liquid injection ports and a plurality of groups of liquid outlet pipes are fixedly mounted on the second cylinder, and the plurality of groups of liquid injection ports and the plurality of groups of liquid outlet pipes are matched with the plurality of groups of liquid storage chambers; The plurality of groups of liquid outlet pipes are all connected to the liquid supply pipeline, and the plurality of groups of liquid outlet pipes are all fixedly mounted with a first solenoid valve.

5. The intelligent monitoring robot for fruit maturity according to claim 3, characterized in that: The liquid supply assembly comprises a pigment chamber and a glue chamber arranged inside the second cylinder, wherein transparent silica gel slurry is stored inside the glue chamber, and pigment liquid is stored inside the pigment chamber; One end of the liquid supply pipeline is connected to the inside of the glue chamber, and a second solenoid valve is fixedly installed on the liquid supply pipeline; A first liquid pump is fixedly mounted on the second cylinder, the input end of the first liquid pump extends into the interior of the pigment chamber, a mixing assembly is fixedly mounted on the liquid supply pipeline, and the output end of the first liquid pump is connected to the mixing assembly.

6. The intelligent monitoring robot for fruit maturity according to claim 5, characterized in that: The mixing assembly comprises a mixing cylinder, the mixing cylinder is fixedly mounted on the liquid supply pipeline, a slow-release cylinder is fixedly mounted inside the mixing cylinder, and the output end of the first liquid pump is connected to the inside of the slow-release cylinder; The sustained-release cylinder is provided with a plurality of micro-holes.

7. The intelligent monitoring robot for fruit maturity according to claim 1, characterized in that: A walking mechanism is installed on the machine body; The machine body is provided with a plurality of storage slots.

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