Intelligent high-altitude fruit and vegetable picking vehicle based on visual identification maturity

Abstract

The invention relates to the technical field of fruit and vegetable harvesting, discloses an intelligent high-altitude fruit and vegetable picking vehicle based on visual identification of maturity, and solves the problems that the picking is inaccurate, more damage is easily caused to plants, and tall, thick and strong fruits and vegetables are difficult to pick. During picking, a picking position is determined through an industrial camera, a picking part is moved to the picking position through a motor A, a motor A, an electric telescopic plate and an electric telescopic rod, fruits and vegetables are clamped through middle closing of arc-shaped picking clamps, an air bag is extruded to eject a clamping knife, a motor C drives a picking disc to rotate, the clamping knife cuts off fruit stems, and stable and accurate cutting is guaranteed; meanwhile, magnetic repulsion of the magnetic plates is utilized to drive the rubber pressing plate to obliquely press downwards, the fruits and the vegetables are discharged, picking work is completed, and the purpose of accurately and stably picking the fruits and the vegetables is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of fruit and vegetable harvesting, and in particular to an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity. Background Art

[0002] As a powerful assistant for agricultural modernization, the intelligent high-altitude fruit and vegetable picking vehicle has powerful lifting and stretching functions, which can easily reach high-altitude areas of various fruit trees. The intelligent control system is precise and sensitive, and can formulate the best picking path according to the distribution and maturity of the fruit. The mechanical arm is flexible and gentle, and can pick fruits and vegetables steadily. The body stabilizer ensures safety when working in complex terrain and at high altitudes. Whether it is an orchard or a tall vegetable planting area, it can operate efficiently, greatly improve picking efficiency and reduce labor costs.

[0003] The existing Chinese patent with publication number CN210113804U discloses a small-sized fruit picking and separating vehicle at high altitude, comprising a mobile vehicle with universal wheels installed at the bottom; a collecting box is installed on the mobile vehicle, a sorting mechanism is installed at the bottom of the collecting box, and a sorting basket is installed below the sorting mechanism; it also comprises a support rod, a scissors for cutting fruit stems is installed at the top of the support rod, and a handle for opening and closing the scissors is installed at the bottom of the support rod; a flexible tube bag is provided on the side below the scissors, and the flexible tube bag is provided on the side below the scissors. The top of the flexible tube bag is open and located below the scissors, and the lower end opening of the flexible tube bag is located at the top of the collection box; the fruits cut by the scissors are guided by the flexible tube bag to the sorting mechanism in the collection box for sorting, and the fruits are sorted by the sorting mechanism and fall into the sorting basket below. However, when this technical solution is used, when harvesting mature fruits and vegetables, it is easy to frame the branches and leaves of the fruits and vegetables into the guide cover together, resulting in the loss of some leaves, even vines, branches, etc. when cutting fruits and vegetables, which causes great damage to the tree itself and cannot achieve accurate picking.

[0004] In view of the above problems, an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity. The device is used to work, thereby solving the problems in the background technology that inaccurate picking can easily cause more damage to the plants themselves and that it is difficult to pick tall and thick fruits and vegetables.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity, comprising a lifting vehicle body, a picking vehicle body is arranged on the upper end of the lifting vehicle body, a collection frame for temporarily storing picked fruits and vegetables is arranged inside the picking vehicle body, and a picking mechanism for intelligently picking mature fruits and vegetables is fixedly connected to the upper surface of the picking vehicle body; The picking mechanism includes a bottom plate fixedly connected to the upper surface of the picking vehicle body, a lifting frame A is fixedly connected to the upper surface of the bottom plate, a motor A is arranged inside the lifting frame A, a screw is fixedly connected to the output end of the motor A, the screw runs through the inner wall of the lifting frame A, a top plate is fixedly connected to the upper end of the inner wall of the lifting frame A, one end of the screw is rotatably connected to the bottom surface of the top plate, a lifting frame B is slidably connected to the inside of the lifting frame A, side grooves are provided on both sides of the lifting frame B, the top plate is slidably connected to the inside of the side grooves, the screw is threadedly connected to the lifting frame B, a controller is fixedly connected to the upper surface of the lifting frame B, an industrial camera is fixedly connected to one side of the lifting frame B, two groups of the upper ends of the inner walls of the side grooves are fixedly connected to mounting blocks, one group of the mounting blocks is fixedly connected to the motor A on one side, the output end of the motor A is fixedly connected to the rotating shaft A, the outer side of the rotating shaft A is fixedly connected to an electric telescopic plate, and one end of the electric telescopic plate is fixedly connected to a picking component for picking fruits and vegetables.

[0007] Furthermore, the picking component includes a mounting frame fixedly connected to one side of the electric telescopic plate, a motor B is arranged inside the mounting frame, a rotating shaft B is fixedly connected to the output end of the motor B, one end of the rotating shaft B is fixedly connected to a supporting plate, a rotating rod A is fixedly connected to the outer side of the supporting plate, one end of the rotating rod A is rotatably connected to the inner wall of the mounting frame, a rotating ring is arranged on the upper surface of the supporting plate, a picking plate is fixedly connected to the upper surface of the rotating ring, a side block is fixedly connected to the outer side of the supporting plate, two groups of side blocks are arranged symmetrically, an electric telescopic rod is fixedly connected to the upper surface of the side blocks, an arc-shaped picking clamp is fixedly connected to the extended end of the electric telescopic rod, a through groove is provided inside the supporting plate, and a positioning component for positioning fruits and vegetables is provided inside the rotating ring.

[0008] Furthermore, a top groove is provided on one side of the arc-shaped picking clamp, a clamping knife is slidably connected inside the top groove, an arc spring is fixedly connected between the clamping knife and the inner wall of the top groove, an airbag is provided inside the top groove, the airbag fits against the bottom surface of the clamping knife, one side of the airbag passes through the inner wall of the arc-shaped picking clamp, one side of the airbag passes through the arc-shaped picking clamp and is fixedly connected with a horizontal pressure plate, a limiting block is fixedly connected to the bottom surface of the arc-shaped picking clamp, a limiting groove is provided on the upper surface of the picking disk, the limiting block is slidably connected to the inside of the limiting groove, a gear ring is fixedly connected to the inner wall of the rotating ring, a motor C is provided inside the support disk, the output end of the motor C is fixedly connected to the short shaft, the outer side of the short shaft is fixedly connected to a gear, and the gear is meshingly connected to the gear ring.

[0009] Furthermore, a limiting ring is fixedly connected between the rotating ring and the picking plate, and the positioning assembly includes a spring A fixedly connected to the top surface of the inner wall of the limiting ring, the spring A is fixedly connected to the ground with a fixing ring, the bottom surface of the fixing ring is fixedly connected to an annular sponge pad, a leakage groove is provided inside the limiting ring and a drainage port is provided outside the limiting ring, the drainage port is arranged corresponding to the leakage groove, and an arc-shaped protrusion is fixedly connected inside the limiting ring.

[0010] Furthermore, a pressure component for squeezing and discharging fruits and vegetables is fixedly connected to the inner wall of the arc-shaped picking clamp, and the pressure component includes a mounting frame fixedly connected to the inner wall of the arc-shaped picking clamp, a movable groove A is opened on the bottom surface of the mounting frame, a connecting long rod A is rotatably connected to the inner wall of the movable groove A, a torsion spring is arranged at the connection between the connecting long rod A and the inner wall of the mounting frame, a magnetic plate is fixedly connected to the outer side of the connecting long rod A, a rubber pressure plate is fixedly connected to the bottom surface of the magnetic plate, the rubber pressure plate is inclined, and the two groups of magnetic plates magnetically repel each other.

[0011] Furthermore, a buffer box is fixedly connected to one side of the lifting frame A, a discharge hopper is fixedly connected to the bottom of the buffer box, and a discharge hopper is fixedly connected to the bottom of the mounting frame. The discharge hopper, buffer box and discharge hopper are all hollow structures, and a buffer net bag is fixedly connected between the bottom of the discharge hopper and the upper opening of the buffer box. An inner groove is provided on the inner wall of the buffer box, and a rotating rod B is rotatably connected to the inner wall of the inner groove. A torsion spring is provided at the connection between the rotating rod B and the inner wall of the buffer box, a rotating plate is fixedly connected to the outer side of the rotating rod B, and a buffer pad is fixedly connected to the upper surface of the rotating plate.

[0012] Furthermore, an air storage tank is provided on the inner wall of the inner tank, a connecting short plate is movably connected to the upper surface of the rotating plate, a sealing plate is fixedly connected to the upper surface of the connecting short plate, the sealing plate is slidably connected to the inside of the air storage tank and fits with the inner wall of the air storage tank, an exhaust groove is provided on one side of the air storage tank, the opening diameter of the exhaust groove is smaller than that of the air storage tank and the opening direction is arranged corresponding to the upper surface of the rotating plate, a discharge groove is provided on one side of the buffer box, an impurity box is fixedly connected to one side of the buffer box, and the discharge groove is communicated with the inside of the impurity box.

[0013] Furthermore, a through tube is fixedly connected to the bottom surface of the discharge hopper, the through tube passes through the upper surface of the picking vehicle body, a discharge chute is opened inside the through tube, an outer baffle is fixedly connected to the bottom surface of the through tube, the outer baffle is arranged on the side corresponding to the inclination direction of the discharge chute, a movable groove B is opened on the bottom surface of the outer baffle, a connecting long rod B is rotatably connected to the inner wall of the movable groove B, a torsion spring is arranged at the connection between the connecting long rod B and the inner wall of the movable groove B, a connecting long plate is fixedly connected to the outer side of the connecting long rod B, a guide plate is fixedly connected to one side of the connecting long plate, a leakage groove is fixedly connected to the upper surface of the guide plate, a secondary fruit frame and a good fruit frame are arranged inside the collecting frame, the secondary fruit frame is arranged corresponding to the leakage groove, the good fruit frame is arranged corresponding to the end of the guide plate away from the connecting long plate, a discharge door is hinged on the outer side of the collecting frame, and an inclined plate is arranged on the outer side of the collecting frame.

[0014] Furthermore, a guide rail is provided at the top of the lifting vehicle body, and a driving wheel component for allowing the picking vehicle body to slide is provided on the bottom surface of the picking vehicle body, and the driving wheel component includes a steering bridge frame fixedly connected to the bottom surface of the picking vehicle body, and driving shafts are fixedly connected on both sides of the steering bridge frame, and one end of the driving shaft is fixedly connected to a side plate, an anti-roll wheel group is provided on one side of the side plate, and a guide wheel group is also provided on one side of the side plate, and the anti-roll wheel group is arranged above the guide wheel group and respectively fits with the upper surface and lower surface of the guide rail.

[0015] Furthermore, the controller is electrically connected to the industrial camera, motor A, motor A, electric telescopic plate, electric telescopic rod and motor C. An image acquisition module for controlling the industrial camera to take pictures of the appearance of fruits and vegetables is provided inside the controller. One end of the image acquisition module is signal-connected to an image processing module for comparing the collected image information. One end of the image processing module is signal-connected to a motion control module for controlling motor A, motor A, electric telescopic plate, electric telescopic rod and motor C to perform picking work. The other end of the image acquisition module is also signal-connected to a data storage module for storing image information of mature fruits and vegetables.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention proposes an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity. Through the arrangement of a picking component, a pressure component and a positioning component in a picking mechanism, a picking position is determined by a controller in cooperation with an industrial camera during the picking process, and the picking component is moved to the picking position by motor A, motor A, an electric telescopic plate and an electric telescopic rod. The fruits and vegetables are clamped by bringing the middle of an arc-shaped picking clamp close together, and a clamping knife is ejected by squeezing an airbag. At the same time, the picking disk rotates under the action of motor C, and the clamping knife cuts off the fruit stem to ensure stable and accurate cutting. At the same time, the magnetic repulsion of the magnetic plate drives the rubber pressure plate to press downward obliquely to discharge the fruits and vegetables, completing the picking work and achieving the purpose of accurately and stably picking fruits and vegetables. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the main structure of the picking vehicle of the present invention; Figure 3 It is a schematic diagram of the structure of the picking mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the picking component of the present invention; Figure 5 It is a schematic diagram of the internal structure of the picking component of the present invention; Figure 6 It is a schematic diagram of the structure of the pressure-applying assembly of the present invention; Figure 7 It is a schematic diagram of the internal structure of the support plate of the present invention; Figure 8 It is a schematic diagram of the structure of the positioning component of the present invention; Fig. 9 It is a schematic diagram of the structure of the buffer box of the present invention; Fig.10 It is a schematic diagram of the structure of the discharge hopper of the present invention; Fig.11 It is a schematic diagram of the collection frame structure of the present invention; Fig.12It is a schematic diagram of a visual recognition module of the present invention; Fig.13 It is a schematic diagram of the guide rail structure of the present invention; Fig.14 It is a schematic diagram of the structure of the driving wheel component of the present invention.

[0018] In the figure: 1. picking vehicle body; 2. collecting frame; 21. discharging door; 22. inclined plate; 23. inferior fruit frame; 24. good fruit frame; 3. picking mechanism; 31. bottom plate; 32. lifting frame A; 321. screw rod; 322. top plate; 33. lifting frame B; 331. side groove; 332. mounting block; 333. motor A; 334. rotating shaft A; 335. electric telescopic plate; 34. buffer box; 341. inner groove; 342. rotating rod B; 343. Rotating plate; 344, cushioning cushion; 345, air storage tank; 346, exhaust slot; 347, connecting short plate; 348, sealing plate; 349, discharging trough; 35, impurity box; 36, discharging hopper; 361, through pipe; 362, discharging chute; 363, outer baffle; 364, movable slot B; 365, connecting long plate; 366, guide plate; 367, drain slot; 4, picking parts; 41, mounting frame; 411, discharging hopper; 42, rotating shaft B; 4 21. Rotating rod A; 43. Support plate; 431. Rotating ring; 4311. Gear ring; 432. Gear; 433. Limiting ring; 44. Picking plate; 441. Limiting groove; 45. Arc picking clamp; 451. Top groove; 452. Clamping knife; 453. Limiting block; 454. Airbag; 455. Horizontal pressing plate; 46. Side block; 461. Electric telescopic rod; 47. Pressure assembly; 471. Mounting frame; 472. Movable groove A; 473. Magnetic plate ; 474, rubber pressure plate; 48, positioning assembly; 481, spring A; 482, fixing ring; 483, annular sponge pad; 484, leakage groove; 485, arc-shaped protrusion; 486, drain port; 5, controller; 51, industrial camera; 6, buffer net bag; 7, lifting vehicle body; 71, guide rail; 72, driving wheel component; 721, steering bridge; 722, driving shaft; 723, side plate; 724, anti-tilt wheel group; 725, guide wheel group. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0020] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings.

[0021] Combination Figure 1-Figure 5 , an intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity, comprising a lifting vehicle body 7, a picking vehicle body 1 is arranged on the upper end of the lifting vehicle body 7, a collection frame 2 for temporarily storing picked fruits and vegetables is arranged inside the picking vehicle body 1, and a picking mechanism 3 for intelligently picking mature fruits and vegetables is fixedly connected to the upper surface of the picking vehicle body 1; The picking mechanism 3 includes a bottom plate 31 fixedly connected to the upper surface of the picking vehicle body 1, a lifting frame A 32 is fixedly connected to the upper surface of the bottom plate 31, a motor A is arranged inside the lifting frame A 32, a screw rod 321 is fixedly connected to the output end of the motor A, the screw rod 321 penetrates the inner wall of the lifting frame A 32, a top plate 322 is fixedly connected to the upper end of the inner wall of the lifting frame A 32, one end of the screw rod 321 is rotatably connected to the bottom surface of the top plate 322, a lifting frame B 33 is slidably connected to the inside of the lifting frame A 32, side grooves 331 are provided on both sides of the lifting frame B 33, the top plate 322 is slidably connected to the inside of the side grooves 331, the screw rod 321 is threadedly connected to the lifting frame B 33, a controller 5 is fixedly connected to the upper surface of the lifting frame B 33, an industrial camera 51 is fixedly connected to one side of the lifting frame B 33, and mounting blocks 332 are fixedly connected to the upper ends of the inner walls of the two groups of side grooves 331, one side of one group of mounting blocks 332 is fixedly connected to the motor A 333, the output end of the motor A 333 is fixedly connected with a rotating shaft A 334, the outer side of the rotating shaft A 334 is fixedly connected with an electric telescopic plate 335, and one end of the electric telescopic plate 335 is fixedly connected with a picking component 4 for picking fruits and vegetables. In order to adapt to more application scenarios and road conditions, the picking vehicle body 1 is used in conjunction with the lifting vehicle body 7, both of which have independent power units. When picking shorter (0-2m) fruits and vegetables with a relatively flat road surface, the picking vehicle body 1 can be used alone. When picking higher (2-13m) fruits and vegetables with a rugged and muddy road surface, the picking vehicle body 1 and the lifting vehicle body 7 can be used in combination. In the process of picking fruits and vegetables, the motor A inside the lifting frame A 32 drives the screw rod 321 to rotate, thereby driving the lifting frame B 33 along the lifting frame A The inner wall of 32 is raised and lowered, and the top plate 322 cooperates with the side groove 331 to play a limiting effect to ensure stability during movement. After adjusting to a suitable height, the mature fruits and vegetables are positioned through the controller 5, and then the motor A333 drives the shaft A 334 to rotate, and the inclination angle of the shaft A 334 is adjusted, and the picking work is completed using the picking component 4.

[0022] The picking component 4 includes a mounting frame 41 fixedly connected to one side of the electric telescopic plate 335, a motor B is arranged inside the mounting frame 41, a rotating shaft B 42 is fixedly connected to the output end of the motor B, one end of the rotating shaft B 42 is fixedly connected to a support plate 43, and a rotating rod A 421 is fixedly connected to the outer side of the support plate 43. One end of 421 is rotatably connected to the inner wall of the mounting frame 41, a rotating ring 431 is provided on the upper surface of the support plate 43, a picking plate 44 is fixedly connected to the upper surface of the rotating ring 431, a side block 46 is fixedly connected to the outer side of the support plate 43, two groups of side blocks 46 are provided, and the two groups of side blocks 46 are symmetrically arranged, an electric telescopic rod 461 is fixedly connected to the upper surface of the side block 46, and an arc-shaped picking clamp 45 is fixedly connected to the extended end of the electric telescopic rod 461, a through groove is provided inside the support plate 43, the rotating ring 431 and the picking plate 44, a positioning component 48 for positioning fruits and vegetables is provided inside the rotating ring 431, and when picking, the motor B inside the mounting frame 41 drives the rotating shaft B 42 to rotate, and the inclination angle of the support plate 43 is adjusted, and the rotating rod A 421 plays the role of auxiliary support. When the fruits and vegetables are placed above the picking plate 44 and correspond to the positioning component 48, the electric telescopic rod 461 is turned on. The electric telescopic rod 461 drives the two groups of arc-shaped picking clamps 45 to move closer to the middle, and the arc-shaped picking clamps 45 are used to frame the fruits and vegetables. Other subsequent structures are used to complete the cutting of the fruit stems, thereby reducing damage to the fruits and vegetables.

[0023] The present invention will be further described below in conjunction with the embodiments.

[0024] See also Figure 1-Figure 14 A top groove 451 is provided on one side of the arc-shaped picking clamp 45, a clamping knife 452 is slidably connected inside the top groove 451, an arc spring is fixedly connected between the clamping knife 452 and the inner wall of the top groove 451, an air bag 454 is arranged inside the top groove 451, the air bag 454 fits the bottom surface of the clamping knife 452, one side of the air bag 454 passes through the inner wall of the arc-shaped picking clamp 45, the air bag 454 passes through one side of the arc-shaped picking clamp 45 and is fixedly connected with a horizontal pressing plate 455, the bottom surface of the arc-shaped picking clamp 45 is fixedly connected with a limiting block 453, and the picking plate 44 A limiting groove 441 is provided on the upper surface, and a limiting block 453 is slidably connected to the inside of the limiting groove 441. During the picking process, the two groups of arc-shaped picking clamps 45 move toward the middle, and the fruit fits against the horizontal pressure plate 455, thereby squeezing the airbag 454, squeezing the air inside it into the top groove 451, and squeezing the internal clamping knife 452 to cut from both sides of the fruit stem. Through the setting of the limiting block 453 and the limiting groove 441, a limiting effect is achieved during the movement of the arc-shaped picking clamp 45 to ensure stability during the movement.

[0025] A gear ring 4311 is fixedly connected to the inner wall of the rotating ring 431, and a motor C is arranged inside the supporting disk 43. The output end of the motor C is fixedly connected to the short shaft, and a gear 432 is fixedly connected to the outer side of the short shaft. The gear 432 is meshed with the gear ring 4311. When the electric telescopic rod 461 is working, the motor C is turned on, and the motor C drives the gear 432 to rotate. Under the meshing action of the gear ring 4311, the supporting disk 43 is driven to rotate, and the picking disk 44 rotates accordingly, so as to achieve the effect of cutting while rotating during picking, and the fruit can be directly unscrewed by rotation or the fruit stem can be cut off by rotation cutting.

[0026] A limit ring 433 is fixedly connected between the rotating ring 431 and the picking plate 44. The positioning assembly 48 includes a spring A 481 fixedly connected to the top surface of the inner wall of the limit ring 433. A fixing ring 482 is fixedly connected to the ground 481, and an annular sponge pad 483 is fixedly connected to the bottom surface of the fixing ring 482. A leakage groove 484 is provided inside the limiting ring 433, and a drainage port 486 is provided outside the limiting ring 433. The drainage port 486 is arranged corresponding to the leakage groove 484. An arc-shaped protrusion 485 is fixedly connected inside the limiting ring 433. When picking fruits and vegetables, the fruits and vegetables are aligned with the notch in the middle of the annular sponge pad 483. The diameter of the notch is smaller than the size of the fruits and vegetables. After the alignment is completed, the picking work is carried out. The annular sponge pad 483 is elastic and can absorb water. When the fruits and vegetables are pressed down and discharged later, the annular sponge pad 483 wipes the liquid attached to the surface of the fruits and vegetables, and the fruits and vegetables open the notch in the middle of the annular sponge pad 483 to be discharged. When the pressure is pressed down, the spring A 481 stretches, driving the annular sponge pad 483 to be pressed toward the arc-shaped protrusion 485, squeezing out the liquid absorbed inside the annular sponge pad 483 and temporarily storing it inside the leakage groove 484, and then the annular sponge pad 483 is reset by the spring A 481, and finally discharged through the drain port 486.

[0027] The inner wall of the arc-shaped picking clamp 45 is fixedly connected with a pressure component 47 for squeezing and discharging fruits and vegetables. The pressure component 47 includes a mounting frame 471 fixedly connected to the inner wall of the arc-shaped picking clamp 45. A movable groove A 472 is opened on the bottom surface of the mounting frame 471. The inner wall of the movable groove A472 is rotatably connected with a connecting rod A. A torsion spring is arranged at the connection between the connecting rod A and the inner wall of the mounting frame 471. A magnetic plate 473 is fixedly connected to the outer side of the connecting rod A. A rubber pressure plate 474 is fixedly connected to the bottom surface of the magnetic plate 473. The rubber pressure plate 474 is tilted. The two groups of magnetic plates 473 repel each other magnetically. When the two groups of arc-shaped picking clamps 45 approach each other, the rubber pressure plate 474 rotates in the opposite direction under the magnetic repulsion of the magnetic plates 473, so that the two groups of rubber pressure plates 474 are squeezed obliquely downward. As the arc-shaped picking clamps 45 get closer, the fruits and vegetables are finally discharged through the notch in the middle of the annular sponge pad 483. The torsion spring is used to assist in resetting.

[0028] A buffer box 34 is fixedly connected to one side of the lifting frame A 32, a discharge hopper 36 is fixedly connected to the bottom of the buffer box 34, a discharge hopper 411 is fixedly connected to the bottom of the mounting frame 41, the discharge hopper 411, the buffer box 34 and the discharge hopper 36 are all hollow structures, a buffer net bag 6 is fixedly connected between the bottom of the discharge hopper 411 and the upper opening of the buffer box 34, an inner groove 341 is provided on the inner wall of the buffer box 34, a rotating rod B 342 is rotatably connected to the inner wall of the inner groove 341, and the rotating rod B A torsion spring is provided at the connection between 342 and the inner wall of the buffer box 34, a rotating plate 343 is fixedly connected to the outer side of the rotating rod B342, and a buffer cushion 344 is fixedly connected to the upper surface of the rotating plate 343. In the process of picking and discharging fruits and vegetables, they pass through the discharge hopper 411, the buffer net bag 6, the buffer box 34 and the discharge hopper 36 in sequence. The fruits and vegetables are initially buffered in the buffer net bag 6. After entering the buffer box 34, the fruits and vegetables fall on the surface of the buffer cushion 344, driving the rotating plate 343 to press down, and the rotating rod B 342 rotates to play a buffering effect and slow down the falling speed of the fruits and vegetables.

[0029] The inner wall of the inner groove 341 is provided with an air storage groove 345, the upper surface of the rotating plate 343 is movably connected with a connecting short plate 347, the upper surface of the connecting short plate 347 is fixedly connected with a sealing plate 348, the sealing plate 348 is slidably connected to the inside of the air storage groove 345 and fits with the inner wall of the air storage groove 345, an exhaust groove 346 is provided on one side of the air storage groove 345, the opening diameter of the exhaust groove 346 is smaller than that of the air storage groove 345 and the opening direction is set corresponding to the upper surface of the rotating plate 343, and a buffer box 34 is provided on one side. The discharge chute 349 and the impurity box 35 are fixedly connected to one side of the buffer box 34. The discharge chute 349 is connected to the inside of the impurity box 35. When the rotating plate 343 is pressed down, the connecting short plate 347 and the sealing plate 348 are driven to move upward, and the air inside the air storage tank 345 is squeezed and discharged from the exhaust groove 346. Since the exhaust groove 346 has a small diameter, the airflow is enhanced by the flow velocity difference, and the leaves that may exist in the picking process are discharged into the impurity box 35 through the discharge chute 349 for collection.

[0030] The bottom surface of the discharge hopper 36 is fixedly connected with a through pipe 361, which penetrates the upper surface of the picking vehicle body 1, and a discharge chute 362 is provided inside the through pipe 361. The bottom surface of the through pipe 361 is fixedly connected with an outer baffle plate 363, which is arranged on a side corresponding to the inclination direction of the discharge chute 362. The bottom surface of the outer baffle plate 363 is provided with a movable groove B 364, and the inner wall of the movable groove B 364 is rotatably connected with a connecting rod B, which connects the long rod B and the movable groove B A torsion spring is provided at the connection of the inner wall 364, a connecting long plate 365 is fixedly connected to the outer side of the connecting long rod B, a guide plate 366 is fixedly connected to one side of the connecting long plate 365, a leakage groove 367 is fixedly connected to the upper surface of the guide plate 366, a substandard fruit frame 23 and a good fruit frame 24 are provided inside the collection frame 2, the substandard fruit frame 23 is provided corresponding to the leakage groove 367, the good fruit frame 24 is provided corresponding to the end of the guide plate 366 away from the connecting long plate 365, a discharge door 21 is hinged on the outer side of the collection frame 2, and a Inclined plate 22, after the fruits and vegetables are discharged through the discharge inclined groove 362 in the through tube 361, the fruits and vegetables with smaller diameters are discharged through the leakage groove 367 into the inferior fruit frame 23, and the moderate fruits and vegetables slide along the guide plate 366 into the good fruit frame 24. When the fruits and vegetables fall, the guide plate 366 is pressed down, and the connecting long rod B rotates accordingly. The bottom side of the guide plate 366 hits the upper surface of the good fruit frame 24 to generate vibration, and the fruits and vegetables that may be stuck in the leakage groove 367 are shaken down, and the connecting long rod cooperates with the torsion spring to reset, and the operation is repeated.

[0031] A platform is provided at the top of the lifting vehicle body 7, and a guide rail 71 is provided on the surface of the platform. A driving wheel component 72 for sliding the picking vehicle body 1 is provided on the bottom surface of the picking vehicle body 1. The driving wheel component 72 includes a steering bridge 721 fixedly connected to the bottom surface of the picking vehicle body 1, and a driving shaft 722 is fixedly connected to both sides of the steering bridge 721. A side plate 723 is fixedly connected to one end of the driving shaft 722. An anti-tilt wheel group 724 is provided on one side of the side plate 723, and a guide wheel group 725 is also provided on one side of the side plate 723. The anti-tilt wheel group 724 is arranged above the guide wheel group 725 and is respectively connected to the upper surface of the guide rail 71. It fits with the lower surface. When the picking vehicle body 1 is used alone, an ordinary roller is installed on one end of the driving shaft 722 for use. When used in conjunction with the lifting vehicle body 7, the picking vehicle body 1 needs to be sent to the top of the guide rail 71, and then the driving wheel component 72 is installed. The anti-tilt wheel group 724 and the guide wheel group 725 are used to cooperate with the guide rail 71 to ensure the stable movement of the picking vehicle body 1. Then, the lifting vehicle body 7 is used to drive the picking vehicle body 1 to the front of the fruits and vegetables, so that the platform is raised to the appropriate position of the fruits and vegetables, and the platform is placed around the trunks of the fruits and vegetables. As the picking vehicle body 1 moves on the guide rail 71, the maturity of the fruits and vegetables can be detected and picked.

[0032] The controller 5 is electrically connected to the industrial camera 51, the motor A, the motor A 333, the electric telescopic plate 335, the electric telescopic rod 461 and the motor C. An image acquisition module for controlling the industrial camera 51 to take pictures of the appearance of fruits and vegetables is provided inside the controller 5. One end of the image acquisition module is signal-connected to an image processing module for comparing the collected image information. One end of the image processing module is signal-connected to a motion control module for controlling the motor A, the motor A 333, the electric telescopic plate 335, the electric telescopic rod 461 and the motor C to perform picking. The other end of the image acquisition module is also signal-connected to a data storage module for storing image information of mature fruits and vegetables.

[0033] Specifically, when the picking height is within 2m, the picking vehicle body 1 is directly used for picking. When the picking height is greater than 2m, the picking vehicle body 1 needs to be sent to the platform of the lifting vehicle body 7. After the picking vehicle body 1 is placed above the guide rail 71, the driving wheel component 72 is installed, and the anti-tilt wheel group 724 and the guide wheel group 725 are used to cooperate with the guide rail 71 to ensure the stable movement of the picking vehicle body 1. The lifting vehicle body 7 then drives the picking vehicle body 1 to travel in front of the fruits and vegetables, and the platform is raised to the position of the fruits and vegetables. The platform is placed around the trunk of the fruits and vegetables for picking. When picking, the motor A inside the lifting frame A 32 drives the screw rod 321 to rotate, and drives the lifting frame B 33 to rise and fall along the inner wall of the lifting frame A 32. The top plate 322 cooperates with the side groove 331 to play a limiting effect. After adjusting to a suitable height, the image acquisition module of the controller 5 controls the industrial camera 51 to take pictures of the appearance of the fruits and vegetables, and the image processing module is used to compare the collected picture information. The motor A 333 drives the rotating shaft A The rotating shaft A 334 is rotated to adjust the inclination angle of the rotating shaft A 334, and then the rotating shaft B 42 is driven to rotate by the motor B inside the mounting frame 41 to adjust the inclination angle of the supporting plate 43. The rotating rod A 421 plays the role of auxiliary support. When the fruits and vegetables are placed above the picking plate 44 and correspond to the positioning assembly 48, the electric telescopic rod 461 is turned on, and the electric telescopic rod 461 drives the two sets of arc-shaped picking clamps 45 to move closer to the middle, and the arc-shaped picking clamps 45 are used to frame the fruits and vegetables. The fruits fit with the horizontal pressing plate 455, thereby squeezing the airbag 454, squeezing the air inside it into the top groove 451, squeezing the internal clamping knife 452, and cutting from both sides of the fruit stem. While the electric telescopic rod 461 is working, the motor C is turned on, and the motor C drives the gear 432 to rotate. When the gear ring 4311 The meshing action drives the support plate 43 to rotate, and the picking plate 44 rotates accordingly, so as to achieve the effect of rotating and cutting at the same time when picking. The fruit can be directly unscrewed by rotation or the fruit stem can be picked by rotation cutting. When the two sets of arc-shaped picking clamps 45 are close to each other, the rubber pressure plate 474 rotates in the opposite direction under the magnetic repulsion of the magnetic plate 473, so that the two sets of rubber pressure plates 474 are squeezed downward obliquely. As the arc-shaped picking clamps 45 are further close, the annular sponge pad 483 wipes the liquid attached to the surface of the fruit and vegetable, and the fruit and vegetable open the notch in the middle of the annular sponge pad 483 to be discharged. When the spring A is pressed down, 481 stretches, driving the annular sponge pad 483 to press against the arc-shaped protrusion 485, squeezing out the liquid absorbed inside the annular sponge pad 483 and temporarily storing it in the leakage groove 484. Then the annular sponge pad 483 is reset by the spring A 481 to reduce the damage to the plant caused by picking. When discharging, the fruits and vegetables are initially buffered in the buffer net bag 6. After entering the buffer box 34, the fruits and vegetables fall on the surface of the buffer cushion 344, driving the rotating plate 343 to press down, and the rotating rod B 342 rotates, which has a buffering effect and slows down the falling speed of the fruits and vegetables. When the rotating plate 343 is pressed down, it drives the connecting short plate 347 and the sealing plate 348 to move upward, squeezing the air inside the air storage tank 345 and discharging it from the exhaust groove 346.Since the exhaust slot 346 has a small diameter, the airflow is enhanced by the flow rate difference, and the leaves that may exist in the picking process are discharged into the impurity box 35 through the discharge slot 349 for collection. After the fruits and vegetables are discharged through the discharge chute 362 in the through pipe 361, the fruits and vegetables with smaller diameters are discharged into the inferior fruit frame 23 through the leakage slot 367, and the moderate fruits and vegetables slide along the guide plate 366 into the good fruit frame 24. When the fruits and vegetables fall, the guide plate 366 is pressed down, and the connecting long rod B rotates accordingly. The bottom side of the guide plate 366 knocks on the upper surface of the good fruit frame 24 to generate vibration, and the fruits and vegetables that may be stuck in the leakage slot 367 are shaken down, thereby completing the collection of the fruits and finally achieving the purpose of accurate and stable picking and preliminary screening of fruits and vegetables.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0035] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity, comprising a lifting vehicle body (7), a picking vehicle body (1) being arranged at the upper end of the lifting vehicle body (7), and a collection frame (2) for temporarily storing picked fruits and vegetables being arranged inside the picking vehicle body (1), characterized in that: A picking mechanism (3) for intelligently picking ripe fruits and vegetables is fixedly connected to the upper surface of the picking vehicle body (1); The picking mechanism (3) comprises a bottom plate (31) fixedly connected to the upper surface of the picking vehicle body (1); a lifting frame A (32) is fixedly connected to the upper surface of the bottom plate (31); a motor A is arranged inside the lifting frame A (32); a screw rod (321) is fixedly connected to the output end of the motor A; the screw rod (321) passes through the inner wall of the lifting frame A (32); a top plate (322) is fixedly connected to the upper end of the inner wall of the lifting frame A (32); one end of the screw rod (321) is rotatably connected to the bottom surface of the top plate (322); a lifting frame B (33) is slidably connected to the lifting frame A (32); side grooves (331) are provided on both sides of the lifting frame B (33); the top plate (322) is slidably connected to the lifting frame Inside the side groove (331), the screw rod (321) is threadedly connected to the lifting frame B (33); a controller (5) is fixedly connected to the upper surface of the lifting frame B (33); an industrial camera (51) is fixedly connected to one side of the lifting frame B (33); the upper ends of the inner walls of the two groups of side grooves (331) are fixedly connected to mounting blocks (332); one side of one group of mounting blocks (332) is fixedly connected to a motor A (333); the output end of the motor A (333) is fixedly connected to a rotating shaft A (334); the outer side of the rotating shaft A (334) is fixedly connected to an electric telescopic plate (335); and one end of the electric telescopic plate (335) is fixedly connected to a picking component (4) for picking fruits and vegetables.

2. According to claim 1, the intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity is characterized by: The picking component (4) comprises a mounting frame (41) fixedly connected to one side of the electric telescopic plate (335), a motor B is arranged inside the mounting frame (41), a rotating shaft B (42) is fixedly connected to the output end of the motor B, one end of the rotating shaft B (42) is fixedly connected to a support plate (43), a rotating rod A (421) is fixedly connected to the outside of the support plate (43), one end of the rotating rod A (421) is rotatably connected to the inner wall of the mounting frame (41), a rotating ring (431) is arranged on the upper surface of the support plate (43), and the upper surface of the rotating ring (431) is fixedly connected to A picking plate (44) is provided, and a side block (46) is fixedly connected to the outside of the support plate (43). The side blocks (46) are provided in two groups, and the two groups of side blocks (46) are symmetrically arranged. An electric telescopic rod (461) is fixedly connected to the upper surface of the side block (46), and an arc-shaped picking clamp (45) is fixedly connected to the extended end of the electric telescopic rod (461). The support plate (43), the rotating ring (431) and the picking plate (44) are all provided with a through groove, and a positioning component (48) for positioning fruits and vegetables is provided inside the rotating ring (431).

3. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 2 is characterized by: A top groove (451) is provided on one side of the arc-shaped picking clamp (45), a clamping knife (452) is slidably connected inside the top groove (451), an arc-shaped spring is fixedly connected between the clamping knife (452) and the inner wall of the top groove (451), an air bag (454) is provided inside the top groove (451), the air bag (454) is in contact with the bottom surface of the clamping knife (452), one side of the air bag (454) passes through the inner wall of the arc-shaped picking clamp (45), and one side of the air bag (454) passing through the arc-shaped picking clamp (45) is fixedly connected to a horizontal pressing plate (455), the bottom surface of the arc-shaped picking clamp (45) is fixedly connected to a limiting block (453), the upper surface of the picking plate (44) is provided with a limiting groove (441), the limiting block (453) is slidably connected to the inside of the limiting groove (441), the inner wall of the rotating ring (431) is fixedly connected to a gear ring (4311), a motor C is arranged inside the support plate (43), the output end of the motor C is fixedly connected to a short shaft, the outer side of the short shaft is fixedly connected to a gear (432), and the gear (432) is meshingly connected to the gear ring (4311).

4. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 1 is characterized by: A limit ring (433) is fixedly connected between the rotating ring (431) and the picking plate (44); the positioning assembly (48) comprises a spring A (481) fixedly connected to the top surface of the inner wall of the limit ring (433); the spring A (481) is fixedly connected to a fixing ring (482) on the ground; the bottom surface of the fixing ring (482) is fixedly connected to an annular sponge pad (483); a liquid leakage groove (484) is provided inside the limit ring (433); a liquid discharge port (486) is provided outside the limit ring (433); the liquid discharge port (486) and the liquid leakage groove (484) are arranged correspondingly; and an arc-shaped protrusion (485) is fixedly connected inside the limit ring (433).

5. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 2 is characterized by: The inner wall of the arc-shaped picking clamp (45) is fixedly connected to a pressure component (47) for squeezing and discharging fruits and vegetables. The pressure component (47) comprises a mounting frame (471) fixedly connected to the inner wall of the arc-shaped picking clamp (45). A movable groove A (472) is provided on the bottom surface of the mounting frame (471). A connecting rod A is rotatably connected to the inner wall of the movable groove A (472). A torsion spring is provided at the connection between the connecting rod A and the inner wall of the mounting frame (471). A magnetic plate (473) is fixedly connected to the outer side of the connecting rod A. A rubber pressure plate (474) is fixedly connected to the bottom surface of the magnetic plate (473). The rubber pressure plate (474) is arranged obliquely. Two groups of magnetic plates (473) repel each other magnetically.

6. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 1 is characterized by: A buffer box (34) is fixedly connected to one side of the lifting frame A (32), a discharge hopper (36) is fixedly connected to the bottom surface of the buffer box (34), a discharge hopper (411) is fixedly connected to the bottom surface of the mounting frame (41), the discharge hopper (411), the buffer box (34) and the discharge hopper (36) are all hollow structures, a buffer net bag (6) is fixedly connected between the bottom surface of the discharge hopper (411) and the upper opening of the buffer box (34), an inner groove (341) is provided on the inner wall of the buffer box (34), a rotating rod B (342) is rotatably connected to the inner wall of the inner groove (341), a torsion spring is provided at the connection between the rotating rod B (342) and the inner wall of the buffer box (34), a rotating plate (343) is fixedly connected to the outer side of the rotating rod B (342), and a buffer cushion (344) is fixedly connected to the upper surface of the rotating plate (343).

7. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 6 is characterized by: An air storage groove (345) is provided on the inner wall of the inner groove (341); a connecting short plate (347) is movably connected to the upper surface of the rotating plate (343); a sealing plate (348) is fixedly connected to the upper surface of the connecting short plate (347); the sealing plate (348) is slidably connected to the inside of the air storage groove (345) and fits the inner wall of the air storage groove (345); an exhaust groove (346) is provided on one side of the air storage groove (345); the opening diameter of the exhaust groove (346) is smaller than that of the air storage groove (345) and the opening direction is arranged corresponding to the upper surface of the rotating plate (343); a discharge groove (349) is provided on one side of the buffer box (34); an impurity box (35) is fixedly connected to one side of the buffer box (34); and the discharge groove (349) is communicated with the inside of the impurity box (35).

8. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 6 is characterized by: The bottom surface of the discharge hopper (36) is fixedly connected to a through-tube (361), the through-tube (361) penetrates the upper surface of the picking vehicle body (1), a discharge chute (362) is provided inside the through-tube (361), an outer baffle (363) is fixedly connected to the bottom surface of the through-tube (361), the outer baffle (363) is arranged on a side corresponding to the inclination direction of the discharge chute (362), a movable groove B (364) is provided on the bottom surface of the outer baffle (363), a connecting long rod B is rotatably connected to the inner wall of the movable groove B (364), and a torsion bar is provided at the connection between the connecting long rod B and the inner wall of the movable groove B (364). A spring is provided, a connecting long plate (365) is fixedly connected to the outer side of the connecting long rod B, a guide plate (366) is fixedly connected to one side of the connecting long plate (365), a drain groove (367) is fixedly connected to the upper surface of the guide plate (366), a poor fruit frame (23) and a good fruit frame (24) are arranged inside the collecting frame (2), the poor fruit frame (23) and the drain groove (367) are arranged correspondingly, the good fruit frame (24) and an end of the guide plate (366) away from the connecting long plate (365) are arranged correspondingly, a discharging door (21) is hingedly connected to the outer side of the collecting frame (2), and an inclined plate (22) is arranged on the outer side of the collecting frame (2).

9. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 1 is characterized by: A guide rail (71) is arranged at the top of the lifting vehicle body (7), and a driving wheel component (72) for sliding the picking vehicle body (1) is arranged at the bottom of the picking vehicle body (1). The driving wheel component (72) comprises a steering bridge (721) fixedly connected to the bottom of the picking vehicle body (1), driving shafts (722) are fixedly connected to both sides of the steering bridge (721), one end of the driving shaft (722) is fixedly connected to a side plate (723), an anti-tilt wheel group (724) is arranged on one side of the side plate (723), and a guide wheel group (725) is also arranged on one side of the side plate (723), and the anti-tilt wheel group (724) is arranged above the guide wheel group (725) and is respectively in contact with the upper surface and the lower surface of the guide rail (71).

10. The intelligent high-altitude fruit and vegetable picking vehicle based on visual recognition of maturity according to claim 1, characterized in that: The controller (5) is electrically connected to the industrial camera (51), the motor A, the motor A (333), the electric telescopic plate (335), the electric telescopic rod (461), and the motor C. An image acquisition module for controlling the industrial camera (51) to take pictures of the appearance of fruits and vegetables is provided inside the controller (5). One end of the image acquisition module is signal-connected to an image processing module for comparing the collected picture information. One end of the image processing module is signal-connected to a motion control module for controlling the motor A, the motor A (333), the electric telescopic plate (335), the electric telescopic rod (461), and the motor C to perform a picking operation. The other end of the image acquisition module is also signal-connected to a data storage module for storing picture information of mature fruits and vegetables.

Images