Blueberry picking robot based on image recognition

Abstract

The invention discloses a blueberry picking robot based on image recognition, and relates to the technical field of fruit picking device.The blueberry picking robot comprises a rack, a front-and-back through machine shell is installed outside the rack, image recognizers are symmetrically installed on the inlet side of the machine shell, and a center rod is slidably sleeved with a sleeve through a spring; poking rods for picking are fixed on the outer side of the sleeve at equal intervals; the length adjusting assembly is arranged in the mounting plate and at the tail end of the shifting rod, and the amplitude adjusting assembly is arranged at the top of the center rod and the top of the sleeve; and the synchronous coordination assembly is arranged below the mounting plate and between the center rod and the top of the sleeve. In the using process of the blueberry picking robot based on image recognition, when picking operation is carried out on blueberry trees in different growth states, adaptive adjustment can be carried out on the length and the amplitude of the picking component, and therefore the blueberry picking efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of fruit picking devices, and in particular to a blueberry picking robot based on image recognition. Background Art

[0002] Blueberries are small and grow in bushes. Their picking is highly complex and labor-intensive. Manual picking is time-consuming and labor-intensive. In the blueberry ripening season, a large amount of picking work needs to be completed in a short period of time, which often makes it difficult to ensure the timeliness of picking. Some blueberries may rot on the branches due to overripeness, affecting the quality and yield of the fruit. With the development of science and technology, image recognition technology has made rapid progress in recent years. Computer vision systems have shown high accuracy and reliability in identifying objects and judging features. Applying image recognition technology to blueberry picking robots can accurately locate the position of blueberry fruits and identify their maturity, thereby achieving efficient, accurate and non-destructive picking operations. As a result, blueberry picking robots based on image recognition have been widely used. However, the existing blueberry picking robot based on image recognition still has the following problems during use: during picking, a group of picking rollers with fixed amplitude are installed inside the device, and the picking rollers are provided with picking rods. During picking, the ripe fruits on the blueberry tree are shaken off and collected by mechanical vibration, so as to quickly complete the picking operation in a large area of ​​orchards. However, the prosperity of blueberry trees varies during their growth. Some blueberry trees grow lushly, with lush branches and leaves and a large crown extension area, while some plants are thin and have a small crown. When picking blueberry trees with different growth states, if a fixed picking length is used, for blueberry trees that grow lushly, the picking components are not enough to extend deeply into the entire tree to fully pick the blueberry fruits. In addition, the amplitude and frequency of the vibration need to be adjusted according to the prosperity of the blueberry tree. In areas with dense crowns and leaves and a large area, the vibration amplitude is appropriately increased to avoid the vibration being difficult to transmit to the inside of the branches due to too small an amplitude, thereby affecting the efficiency of blueberry picking.

[0003] So we proposed a blueberry picking robot based on image recognition to solve the problems raised above. Summary of the invention

[0004] The purpose of the present invention is to provide a blueberry picking robot based on image recognition to solve the problem that the existing blueberry picking robots based on image recognition on the market currently on the market, during use, use a picking roller with a fixed amplitude to shake off and collect the ripe fruits on the blueberry tree through mechanical vibration, but for blueberry trees with different flourishing conditions, it is not convenient to adaptively adjust the use length and vibration amplitude of the corresponding picking mechanism, thereby affecting the quality and efficiency of blueberry picking.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a blueberry picking robot based on image recognition, comprising a frame, and a casing that penetrates front and back is installed on the outside of the frame, and crawlers are installed on the front and back sides of the bottom of the frame, and an image recognizer is symmetrically installed on the entrance side of the casing, and at the same time, mounting plates are symmetrically fixed on the front and back sides of the top of the frame, a center rod is symmetrically arranged on the bottom of the mounting plate, and a sleeve is provided on the outside of the center rod through a spring sliding sleeve, and a picking lever is fixed on the outside of the sleeve at equal intervals, an inclined guide plate is symmetrically arranged on the inner bottom of the frame, and the bottom of the guide plate is connected with a collecting trough, and the collecting trough is symmetrically fixed to the inner bottom of the frame, and the end of the collecting trough merges into the collecting box on the front side of the bottom of the frame, and at the same time, a guide inclined plate is symmetrically installed on the inner wall of the casing opening; The invention also includes: a length adjustment component, which is arranged inside the mounting plate and at the end of the lever, and the length adjustment component can adjust the use length of the lever accordingly according to blueberry trees with different flourishing states; An amplitude adjustment component, which is disposed on the top of the central rod and the sleeve, and can adaptively adjust the amplitude of the lever according to blueberry trees with different flourishing states; The synchronous coordination component is arranged below the mounting plate and between the center rod and the top of the sleeve, and the synchronous coordination component keeps the synchronization of related components when the length and amplitude are adjusted.

[0006] Preferably, the length adjustment assembly includes a first connecting frame fixed between the tops of each group of center rods, and the first connecting frame is overall configured as a "T"-shaped structure, and the top of the first connecting frame is slidably connected to the transverse groove, and the transverse groove is opened at the bottom of the mounting plate, and a screw rod is connected through the transverse groove, and the screw rod is threadedly connected to the first connecting frame, and the end of the driving screw rod is connected to the output end of the motor inside the mounting plate.

[0007] Preferably, a piston rod is symmetrically fixed to the end of the first connecting frame, and the piston rod is slidably connected to the oil chamber, and the oil chamber is symmetrically opened inside the mounting plate, and the oil chamber is connected to the inside of the lever through a connecting pipe, and an extension rod is slidably connected to the end of the lever.

[0008] Preferably, the amplitude adjustment assembly includes a second connecting frame fixed to the top of each group of sleeves, and a fixed plate is obliquely fixed to the top of the second connecting frame, and a rotating plate is hinged on the top of the fixed plate, and an oil tank is installed on the top of the fixed plate, and the oil tank is arranged as an arc structure.

[0009] Preferably, an arc plate is slidably connected to the oil tank, and the top of the arc plate is fixedly connected to the bottom of the rotating plate, and the rotating plate forms an angle adjustment structure through the oil tank and the arc plate, and the oil tank is connected to the oil chamber through a connecting pipe.

[0010] Preferably, the amplitude adjustment assembly also includes a vertical plate that is slidably connected to the first connecting frame, and the vertical plate is configured as a rectangular structure, and an electric push rod is fixed to the bottom of the vertical plate, and the end of the electric push rod is flush with the lowest point of the rotating plate.

[0011] Preferably, the synchronization and coordination component includes an elastic telescopic rod fixed to the bottom of the first connecting frame, and the telescopic length of the elastic telescopic rod is greater than the active length when the sleeve amplitude is adjusted, and a fixed cylinder is fixed to the bottom of the elastic telescopic rod, and a traction plate is slidably connected to the bottom of the fixed cylinder.

[0012] Preferably, the interior of the fixed cylinder is connected to the oil chamber through a connecting pipe, and the bottom of the traction plate is fixedly connected to the top of the second connecting frame, and the traction plate drives the sleeve through the second connecting frame to form a sliding adjustment structure.

[0013] Preferably, the synchronization and coordination component also includes a sliding rod fixed to the outer side of the bottom of the vertical plate, and the end of the sliding rod is slidably connected to the guide groove, and the guide groove is opened on the side of the vertical plate, and the vertical plate is fixed to the bottom of the mounting plate, and the guide groove is set to be inclined upward.

[0014] Compared with the prior art, the beneficial effect of the blueberry picking robot based on image recognition of the present invention is that when in use, when picking blueberry trees with different growth states, the length and amplitude of the picking parts can be adaptively adjusted, thereby improving the efficiency and quality of blueberry picking. The specific contents are as follows: 1. By setting a length adjustment component, when picking the fruits of a blueberry tree with relatively luxuriant growth, the motor in the mounting plate drives the screw to rotate, and the screw rotates to drive the first connecting frame to slide in the transverse groove. After the first connecting frame moves, the position of the levers on both sides is changed to expand the range of vibration and shaking off. When the first connecting frame moves, it drives the piston rod to slide synchronously in the oil chamber to squeeze out the oil. The oil in the oil chamber partially enters the interior of the lever through the connecting pipe. The lever pushes the extension rod at the end to extend, thereby expanding the use length of the lever. In this way, the use length of the lever is adjusted according to the luxuriant degree of the blueberry tree while ensuring that the gap between the levers on both sides remains unchanged, so that the blueberries inside and outside the blueberry tree can be shaken off and picked more comprehensively; 2. Through the amplitude adjustment component, part of the oil in the oil chamber enters the oil tank through the connecting pipe, thereby pushing the arc plate to slide out. After the arc plate slides out, it pushes the rotating plate on the top fixed plate of the second connecting frame to rotate, thereby adjusting the inclination angle of the rotating plate, and then adjusting the vertical sliding range of the lever driven by the sleeve. After the electric push rod is extended, it fits and squeezes along the bevel of the rotating plate, thereby making the second connecting frame drive the sleeve to slide as a whole. After the inclination angle of the rotating plate is changed, the amplitude range of the lever will be changed accordingly. In areas with dense canopy branches and leaves, the vibration amplitude is appropriately increased to avoid vibration that is not easy to be transmitted to the inside of the branches due to too small amplitude, which affects the efficiency of blueberry picking, so that the mature blueberry trees with lush growth can be picked more thoroughly; 3. Through the synchronous coordination component set, when the first connecting frame drives the lever to move and adjust to both sides, part of the oil in the oil chamber will be injected into the fixed cylinder. After the oil in the fixed cylinder increases, the traction plate drives the second connecting frame at the bottom to move upward as a whole. After the second connecting frame moves up, it drives the sleeve to move synchronously, thereby adjusting the upward position of the sleeve and the position of the highest point of the amplitude, so that the sleeve can be adjusted in a matching manner. When the sleeve drives the lever to vibrate in the later stage, the fixed cylinder will pull the elastic telescopic rod to telescopically slide, while maintaining connectivity, it can accept the adjustment of the corresponding sliding distance. At the same time, when the first connecting frame slides, it drives the vertical plate to move synchronously, and the sliding bar on the vertical plate will slide synchronously in the guide groove on the vertical plate, and the guide groove is inclined upward, and then when the first connecting frame moves, it will synchronously drive the vertical plate to slide vertically on the first connecting frame, so that the electric push rod can synchronously adjust the initial height to adapt to the length of the lever and the amplitude sliding range of the sleeve in different states. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall front view structure of the present invention; Figure 2 It is a schematic diagram of the overall rear view structure of the present invention; Figure 3 It is a schematic diagram of the internal structure of the housing of the present invention; Figure 4 It is a schematic diagram of the overall structure of the frame of the present invention; Figure 5 This is a schematic diagram of the overall structure of the picking component of the present invention; Figure 6 It is a schematic diagram of the local structure of the synchronization coordination component of the present invention; Figure 7 It is a schematic diagram of the top cross-sectional structure of the length adjustment component of the present invention; Figure 8 It is a schematic diagram of the local structure of the amplitude adjustment component of the present invention; Fig. 9 This is a true cross-sectional structural diagram of the connection between the oil tank and the arc plate of the present invention; Fig.10 It is a schematic diagram of the exploded structure of the synchronous coordination component of the present invention.

[0016] In the figure: 1. frame; 2. casing; 3. crawler; 4. image identifier; 5. mounting plate; 6. center rod; 7. sleeve; 8. spring; 9. lever; 10. guide plate; 11. collecting trough; 12. collecting box; 13. guiding inclined plate; 14. length adjustment assembly; 141. first connecting frame; 142. transverse groove; 143. screw rod; 144. piston rod; 145. oil chamber; 146. extension rod; 15. amplitude adjustment assembly; 151. second connecting frame; 152. fixed plate; 153. rotating plate; 154. vertical plate; 155. electric push rod; 156. oil tank; 157. arc plate; 16. synchronous coordination assembly; 161. elastic telescopic rod; 162. fixed cylinder; 163. traction plate; 164. slide rod; 165. guide groove; 166. vertical plate. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figure 1 - Fig.10 As shown, the present invention provides a technical solution: a blueberry picking robot based on image recognition, comprising a frame 1, and a casing 2 that penetrates front and back is installed on the outside of the frame 1, and a crawler 3 is installed on the front and back sides of the bottom of the frame 1, and an image recognizer 4 is symmetrically installed on the entrance side of the casing 2, and a mounting plate 5 is symmetrically fixed on the front and back sides of the top of the frame 1, a center rod 6 is symmetrically arranged on the bottom of the mounting plate 5, and a sleeve 7 is slidably sleeved on the outside of the center rod 6 through a spring 8, and a picking lever 9 is fixed on the outside of the sleeve 7 at equal intervals, an inclined guide plate 10 is symmetrically arranged on the inner bottom of the frame 1, and the bottom of the guide plate 10 is connected with a collecting trough 11, and the collecting trough 11 is symmetrically fixed to the inner bottom of the frame 1, and the end of the collecting trough 11 merges into a collecting box 12 on the front side of the bottom of the frame 1, and a guide inclined plate 13 is symmetrically installed on the inner wall of the opening of the casing 2; First, when in use, the device moves in the blueberry garden via the crawler 3, and the through-hole on the housing 2 is set outside the blueberry tree. When walking, the blueberry tree passes through the guide inclined plate 13 and enters the interior of the housing 2. When walking, the image recognizer 4 can recognize the lush growth state of the blueberry tree. The mounting plate 5 drives the lever 9 to vibrate synchronously through the vibration of the outer sleeve 7 of the center rod 6 and the spring 8, so as to shake off the ripe blueberries on the blueberry tree. When the blueberries fall, they enter the collection tank 11 through the guide plate 10, and finally flow into the collection box 12, so that the blueberries are quickly picked; Embodiment 1: In order to solve the problem that the existing blueberry picking robot is not convenient to adjust the vibration range of the picking part according to the different growth states of blueberry trees during use, the following solution is proposed. Please refer to Figure 4 - Fig.10 As shown; The length adjustment component 14 is arranged inside the mounting plate 5 and at the end of the lever 9, and the length adjustment component 14 can make corresponding adjustments to the use length of the lever 9 according to the blueberry trees with different flourishing states. The length adjustment component 14 includes a first connecting frame 141 fixed between the tops of each group of central rods 6, and the first connecting frame 141 is arranged as a "T"-shaped structure as a whole, and the top of the first connecting frame 141 is slidably connected to the transverse groove 142, and the transverse groove 142 is opened at the bottom of the mounting plate 5, and a screw rod 143 is connected through the transverse groove 142, and the screw rod 143 is threadedly connected to the first connecting frame 141, and the end of the driving screw rod 143 is connected to the output end of the motor inside the mounting plate 5; During use, when picking fruits from a lush blueberry tree, the motor in the mounting plate 5 drives the screw 143 to rotate, and the screw 143 drives the first connecting frame 141 to slide in the transverse groove 142. The first connecting frame 141 moves to change the positions of the levers 9 on both sides, thereby expanding the range of vibration and shaking off. Specifically, a piston rod 144 is symmetrically fixed to the end of the first connecting frame 141, and the piston rod 144 is slidably connected to the oil chamber 145, and the oil chamber 145 is symmetrically opened inside the mounting plate 5, and the oil chamber 145 is connected to the inside of the lever 9 through a connecting pipe, and an extension rod 146 is slidably connected to the end of the lever 9; When in use, the first connecting frame 141 moves and drives the piston rod 144 to slide synchronously in the oil chamber 145 to squeeze out the oil. Part of the oil in the oil chamber 145 enters the interior of the lever 9 through the connecting pipe. The lever 9 pushes the extension rod 146 at the end to extend, thereby extending the usable length of the lever 9. In this way, while ensuring that the gap between the levers 9 on both sides remains unchanged, the usable length of the lever 9 can be adjusted according to the luxuriance of the blueberry tree, so that the blueberries inside and outside the blueberry tree can be shaken off and picked more comprehensively.

[0019] Embodiment 2: In order to solve the problem that the amplitude of the picking parts of the existing blueberry picking robot is relatively fixed during use, which is not convenient for real-time adjustment during the picking process, resulting in incomplete picking of lush blueberry trees, the following solution is proposed. Please refer to Figure 6 and Figure 8 - Fig.10 As shown; The amplitude adjustment component 15 is arranged on the top of the central rod 6 and the sleeve 7, and the amplitude adjustment component 15 can adaptively adjust the amplitude of the lever 9 according to the blueberry trees with different flourishing states. The amplitude adjustment component 15 includes a second connecting frame 151 fixed to the top of each group of sleeves 7, and a fixing plate 152 is obliquely fixed to the top of the second connecting frame 151, and a rotating plate 153 is hinged on the top of the fixing plate 152, and an oil tank 156 is installed on the top of the fixing plate 152, and the oil tank 156 is set as an arc structure, and an arc plate 157 is slidably connected to the oil tank 156, and the top of the arc plate 157 is fixedly connected to the bottom of the rotating plate 153, and the rotating plate 153 forms an angle adjustment structure through the oil tank 156 and the arc plate 157, and the oil tank 156 is connected to the oil chamber 145 through a connecting pipe; When in use, for a lush blueberry tree, part of the oil in the oil chamber 145 enters the oil tank 156 through the connecting pipe, thereby pushing the arc plate 157 to slide out. After the arc plate 157 slides out, it pushes the rotating plate 153 on the top fixed plate 152 of the second connecting frame 151 to rotate, thereby adjusting the inclination angle of the rotating plate 153, and then adjusting the range of the vertical sliding of the sleeve 7 to drive the lever 9.

[0020] Specifically, the amplitude adjustment assembly 15 further includes a vertical plate 154 that penetrates and is slidably connected to the first connecting frame 141, and the vertical plate 154 is set to a rectangular structure, and an electric push rod 155 is fixed to the bottom of the vertical plate 154, and the end of the electric push rod 155 is flush with the lowest point of the rotating plate 153; When in use, the electric push rod 155 at the bottom of the vertical plate 154 is extended and squeezed along the oblique edge of the rotating plate 153, so that the second connecting frame 151 drives the sleeve 7 to slide as a whole. After the inclination angle of the rotating plate 153 is changed later, the amplitude range of the lever 9 will be changed accordingly. In areas with dense crowns and leaves and large areas, the shaking amplitude is appropriately increased to avoid the vibration being difficult to transmit to the inside of the branches due to the small amplitude, which affects the efficiency of blueberry picking, so that the mature blueberry trees with lush growth can be picked more thoroughly.

[0021] Example 3: In order to better adjust the coordination and synchronization between the components, the following solution is proposed. Please refer to Figure 5 - Figure 6 and Figure 8 - Fig.10 As shown; A synchronous coordination component 16, which is arranged below the mounting plate 5 and between the center rod 6 and the top of the sleeve 7, and the synchronous coordination component 16 keeps the synchronization of related components when adjusting the length and amplitude. The synchronous coordination component 16 includes an elastic telescopic rod 161 fixed to the bottom of the first connecting frame 141, and the telescopic length of the elastic telescopic rod 161 is greater than the active length of the sleeve 7 during amplitude adjustment, and a fixed cylinder 162 is fixed to the bottom of the elastic telescopic rod 161, and a traction plate 163 is slidably connected to the bottom of the fixed cylinder 162, and the interior of the fixed cylinder 162 is connected to the oil chamber 145 through a connecting pipe, and the bottom of the traction plate 163 is fixedly connected to the top of the second connecting frame 151, and the traction plate 163 drives the sleeve 7 through the second connecting frame 151 to form a sliding adjustment structure; When in use, when the first connecting frame 141 drives the lever 9 to move and adjust to both sides, part of the oil in the oil chamber 145 will be injected into the fixed cylinder 162. After the oil in the fixed cylinder 162 increases, the traction plate 163 drives the second connecting frame 151 at the bottom to move upward as a whole. After the second connecting frame 151 moves upward, it drives the sleeve 7 to move synchronously, thereby adjusting the upward position of the sleeve 7 and the position of the highest point of the amplitude, so that the sleeve 7 can be adjusted in a matching manner. Later, when the sleeve 7 drives the lever 9 to vibrate, the fixed cylinder 162 will pull the elastic telescopic rod 161 to telescopically slide, and the corresponding sliding distance can be adjusted while maintaining connectivity; Specifically, the synchronization and coordination component 16 also includes a slide bar 164 fixed to the outer side of the bottom of the vertical plate 154, and the end of the slide bar 164 is slidably connected to the guide groove 165, and the guide groove 165 is opened on the side of the vertical plate 166, and the vertical plate 166 is fixed to the bottom of the mounting plate 5, and the guide groove 165 is set to be inclined upward; When in use, the first connecting frame 141 slides and drives the vertical plate 154 to move synchronously. The sliding rod 164 on the vertical plate 154 will slide synchronously in the guide groove 165 on the vertical plate 166. The guide groove 165 is inclined upward, and then when the first connecting frame 141 moves, it will synchronously drive the vertical plate 154 to slide vertically on the first connecting frame 141, so that the electric push rod 155 can synchronously adjust the initial height to adapt to the length of the lever 9 in different states and the amplitude sliding range of the sleeve 7.

[0022] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0023] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A blueberry picking robot based on image recognition, characterized in that: The invention comprises a frame (1), wherein a casing (2) penetrating front and rear is installed on the outside of the frame (1), and tracks (3) are installed on the front and rear sides of the bottom of the frame (1), and an image recognition device (4) is symmetrically installed on the entrance side of the casing (2), and a mounting plate (5) is symmetrically fixed on the front and rear sides of the top of the frame (1), a center rod (6) is symmetrically arranged on the bottom of the mounting plate (5), and a sleeve (7) is slidably sleeved on the outside of the center rod (6) through a spring (8), and a picking lever (9) is fixed on the outside of the sleeve (7) at equal intervals, and an inclined guide plate (10) is symmetrically arranged on the bottom of the inner side of the frame (1), and the bottom of the guide plate (10) is connected to a collecting trough (11), and the collecting trough (11) is symmetrically fixed to the bottom of the inner side of the frame (1), and the end of the collecting trough (11) merges into a collecting box (12) on the front side of the bottom of the frame (1), and a guide inclined plate (13) is symmetrically installed on the inner wall of the opening of the casing (2); It also includes a length adjustment component (14), which is arranged inside the mounting plate (5) and at the end of the lever (9), and the length adjustment component (14) can adjust the use length of the lever (9) accordingly according to blueberry trees with different lush conditions; An amplitude adjustment component (15), wherein the amplitude adjustment component (15) is arranged on the top of the central rod (6) and the sleeve (7), and the amplitude adjustment component (15) can adaptively adjust the amplitude of the lever (9) according to blueberry trees with different flourishing states; A synchronous coordination component (16) is arranged below the mounting plate (5) and between the center rod (6) and the top of the sleeve (7), and the synchronous coordination component (16) enables the synchronization of related components to be maintained when the length and amplitude are adjusted.

2. The blueberry picking robot based on image recognition according to claim 1, characterized in that: The length adjustment assembly (14) comprises a first connecting frame (141) fixed between the tops of each group of central rods (6), and the first connecting frame (141) is configured as a "T"-shaped structure as a whole, and the top of the first connecting frame (141) is slidably connected to the transverse groove (142), and the transverse groove (142) is opened at the bottom of the mounting plate (5), and a screw rod (143) is connected through the transverse groove (142), and the screw rod (143) is threadedly connected to the first connecting frame (141), and the end of the driving screw rod (143) is connected to the output end of the motor inside the mounting plate (5).

3. The blueberry picking robot based on image recognition according to claim 2, characterized in that: A piston rod (144) is symmetrically fixed to the end of the first connecting frame (141), and the piston rod (144) is slidably connected to the oil chamber (145). The oil chamber (145) is symmetrically opened inside the mounting plate (5), and the oil chamber (145) is connected to the inside of the shifting rod (9) through a connecting pipe. At the same time, an extension rod (146) is slidably connected to the end of the shifting rod (9).

4. The blueberry picking robot based on image recognition according to claim 1, characterized in that: The amplitude adjustment component (15) comprises a second connecting frame (151) fixed to the top of each group of sleeves (7), a fixing plate (152) is fixed obliquely to the top of the second connecting frame (151), a rotating plate (153) is hingedly connected to the top of the fixing plate (152), and an oil tank (156) is installed on the top of the fixing plate (152), and the oil tank (156) is arranged as an arc-shaped structure.

5. The blueberry picking robot based on image recognition according to claim 4, characterized in that: The oil tank (156) is slidably connected to an arc plate (157), and the top of the arc plate (157) is fixedly connected to the bottom of the rotating plate (153). The rotating plate (153) forms an angle adjustment structure through the oil tank (156) and the arc plate (157), and the oil tank (156) is connected to the oil chamber (145) through a connecting pipe.

6. The blueberry picking robot based on image recognition according to claim 5, characterized in that: The amplitude adjustment component (15) further comprises a vertical plate (154) penetrating and slidably connected to the first connecting frame (141), wherein the vertical plate (154) is arranged in a rectangular structure, and an electric push rod (155) is fixed to the bottom of the vertical plate (154), and the end of the electric push rod (155) is flush with the lowest point of the rotating plate (153).

7. The blueberry picking robot based on image recognition according to claim 1, characterized in that: The synchronous coordination component (16) comprises an elastic telescopic rod (161) fixed to the bottom of the first connecting frame (141), and the telescopic length of the elastic telescopic rod (161) is greater than the active length of the sleeve (7) when the amplitude is adjusted, and a fixing cylinder (162) is fixed to the bottom of the elastic telescopic rod (161), and a traction plate (163) is slidably connected to the bottom of the fixing cylinder (162).

8. The blueberry picking robot based on image recognition according to claim 7, characterized in that: The interior of the fixed cylinder (162) is connected to the oil chamber (145) via a connecting pipe, and the bottom of the traction plate (163) is fixedly connected to the top of the second connecting frame (151), and the traction plate (163) drives the sleeve (7) via the second connecting frame (151) to form a sliding adjustment structure.

9. The blueberry picking robot based on image recognition according to claim 8, characterized in that: The synchronization and coordination component (16) further comprises a slide bar (164) fixed to the outer side of the bottom of the vertical plate (154), and the end of the slide bar (164) is slidably connected to the guide groove (165), and the guide groove (165) is opened on the side of the vertical plate (166), and the vertical plate (166) is fixed to the bottom of the mounting plate (5), and the guide groove (165) is arranged to be inclined upward.

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