Movable fruit picking and sorting equipment

Abstract

The invention provides mobile fruit picking and sorting equipment. The mobile fruit picking and sorting equipment structurally comprises a mobile chassis, a separated storage box, a control center, a driving motor and a picking mechanical arm, the multi-terrain adaptive capacity can be achieved through a displacement structure of the movable chassis and adjustment of the center column, the robot can flexibly run in an orchard, then the picking mechanical arm conducts direction adjustment through a multi-degree-of-freedom rotary disc, a first rotary rod and a second rotary rod, then flexible grabbing is formed through cooperation of rubber protection blocks, and the picking efficiency is improved. Furthermore, the built-in detection and classification module classifies and stacks the fruits through photoelectric sensing and a detection algorithm, the storage module automatically classifies and stores the fruits according to detection and classification results, and the equipment further integrates a visual identification system and a sensor network, so that the appearance quality and internal quality information of the fruits can be detected in real time; rapid and accurate sorting is achieved through a detection model algorithm, and the method is suitable for efficient picking of various fruits.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery and equipment, and more specifically to a mobile fruit picking and sorting equipment. Background Art

[0002] Mobile fruit picking and sorting equipment improves fruit picking efficiency, sorting accuracy and adaptability, reduces manual labor intensity, and improves the automation level of the fruit industry; At present, fruit picking and sorting mostly rely on manual operations, which have problems such as high labor costs, low efficiency and inconsistent sorting standards. At the same time, existing mechanical equipment is usually designed for fixed locations and is difficult to adapt to the needs of large-scale and diversified plantations. In order to solve the above problems, the present invention provides an operation equipment with integrated mobile picking and sorting functions, which includes a mobile chassis, a mechanical arm picking module, a detection and classification module, a storage module and a control system; Among them, the mobile chassis has the ability to adapt to multiple terrains and can be flexibly driven in the orchard; The robotic arm picking module is equipped with a multi-degree-of-freedom robotic arm and a flexible gripping device, which is suitable for efficient picking of a variety of fruits; The detection and classification module classifies and stacks the fruits through photoelectric sensing and detection algorithms, while the storage module automatically classifies and stores the fruits according to the detection and classification results; The equipment also integrates a visual recognition system and a sensor network to detect the appearance and internal quality of fruits in real time, and achieves fast and accurate sorting through detection model algorithms; The present invention is suitable for the planting environment of dwarfed and densely planted orchards, can effectively reduce labor costs, improve the efficiency and quality of fruit picking and sorting, and at the same time improve the mechanization and intelligence level of orchard operations, providing reliable technical support for the modernization of the fruit industry. Summary of the invention

[0003] The technical solution adopted by the present invention to achieve the technical purpose is: a mobile fruit picking and sorting equipment, whose structure includes: a mobile chassis, a partition storage box, a control center, a drive motor, and a picking robot arm. The upper side of the mobile chassis is connected to the partition storage box and the control center is positioned on the other side. The upper end of the control center controls the picking robot arm through the drive motor.

[0004] Preferably, the picking robot arm is provided with a central rotating shaft, the upper end of the central rotating shaft is connected to a turntable and a positioning block is also provided on the surface of the turntable. The position of the No. 1 rotating rod is limited by the positioning block, and then a No. 2 rotating rod is spliced ​​on the top of the No. 1 rotating rod, and a sorting and picking structure is installed at the front end of the No. 2 rotating rod.

[0005] Preferably, a displacement structure is provided at the bottom of the mobile chassis, the center of the displacement structure is defined by a center column, and the upper and lower ends of the center column are installed on the surface center of the bottom plate through fixing blocks, and a load-bearing plate is also welded and fixed on the right side of the bottom plate.

[0006] Preferably, the picking robot arm is electrically controlled by the driving motor of the control center, and then the turntable of the picking robot arm is combined with the central rotating shaft to perform 360° azimuth adjustment on the No. 1 rotating rod on the positioning block, and then the No. 1 rotating rod cooperates with the No. 2 rotating rod to adjust the inclination angle of the sorting and picking structure, and then the mobile chassis uses the position of the center column to allow the two sets of displacement structures to adjust the balanced spacing, and then the side load-bearing plate allows the operator to stand through the groove to set the control center program.

[0007] Preferably, the mobile chassis positions the partition storage box and the control center as a whole on its own surface, and then a fixing frame is provided on the edge of the control center to complete the positioning and connection of the drive motor and the picking robot arm.

[0008] Preferably, the central rotating shaft coincides with the center of the turntable and the positioning blocks fix the left and right sides of the No. 1 rotating rod so that the No. 1 rotating rod is positioned in a horizontal direction. Then the No. 2 rotating rod is installed in the middle part of the No. 1 rotating rod to cooperate with it and the top center of the No. 2 rotating rod positions the sorting and picking structure.

[0009] Preferably, the base plate is a solid rectangular shape and a groove is opened on the surface of the load-bearing plate, and then the central column is positioned using two fixed blocks. The central column restrains the central area of ​​the displacement structure and then the surface is finely polished to allow the displacement structure to adjust the spacing.

[0010] Preferably, the sorting and picking structure is provided with a connecting power block, which is installed at the lower end of the connecting block and a quality sorter is fixed at the upper end of the connecting block. The connecting block is also connected to grabbing modules on the left and right sides and the distance between the two grabbing modules forms a fixed cavity, and a type sorter is also arranged in the area communicating with the fixed cavity.

[0011] Preferably, a small drive motor is also arranged on the side of the grabbing module, and a reverse screw connected to the center of the small drive motor is arranged transversely at the center of the connecting block, and the two sliders at the lower ends of the two groups of grabbing modules will slide through the reverse screw rod.

[0012] Preferably, the surface of the powered connecting block also carries a card block and a slide rail is opened in the center of the surface of the connecting block to allow the grabbing modules on the left and right sides to slide left and right. The quality sorter falls vertically into the surface of the connecting block and communicates with the fixed cavity. The type sorters on the left and right sides of the connecting block are set in symmetrical positions. Both the type sorter and the quality sorter carry a small connected powered block to complete the positioning and powered installation.

[0013] Preferably, the type sorter is provided with a perspective layer, which is integrated with the rubber protection block and the rubber protection block contains a photoelectric sensor module and a detection module. Both the photoelectric sensor module and the detection module are electrically connected to the second rotating rod through the connecting power block and are electrically connected to the control center.

[0014] Preferably, the rubber protection block is connected to the fixed cavity through the perspective layer area, and the photoelectric sensor module and the detection module inside are parallel to each other, and there is a small power circuit between the two for electrical connection.

[0015] Preferably, the quality sorter is provided with a receiving block, a groove is provided at the center of the upper end of the receiving block and a visual recognition lens is arranged inside, and network sensors are connected to the left and right sides of the visual recognition lens.

[0016] Preferably, the receiving block is in the shape of a rectangular parallelepiped and is parallel to the center of the upper end of the connecting block, and the groove is in an arc shape to allow the fruit to be embedded. The visual recognition lens is installed in the center of the receiving block and recognizes the fruit through the groove.

[0017] Preferably, the displacement structure is provided with a conductive block, which is installed at the upper end of the assembly frame and vertical rails are opened on the left and right sides of the surface of the assembly frame to allow the sliding rod to be embedded, and a load-bearing rod is fixed to the center of the lower end of the sliding rod, and a rotating wheel is connected to the center of the lower end of the load-bearing rod.

[0018] Preferably, a vertical cavity is opened in the center of the assembly frame to allow the load-bearing rod of the slide rod to be vertically installed, the slide rod and the load-bearing rod form a "T" shape and the bottom rotating wheel is a spherical shape, and the left and right sides of the slide rod include small moving wheels that slide vertically in the vertical rail.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention can achieve multi-terrain adaptability through the displacement structure of the mobile chassis and the adjustment of the center column, and can travel flexibly in the orchard. Then the picking robot arm uses the azimuth adjustment formed by the multi-degree-of-freedom turntable, the No. 1 turning rod, and the No. 2 turning rod, and then uses the cooperation of the rubber protection block to form a flexible grasping. Then the built-in detection and classification module classifies and stacks the fruits through photoelectric sensing and detection algorithms, and the storage module automatically classifies and stores the fruits according to the detection and classification results. The equipment also integrates a visual recognition system and a sensor network, which can detect the appearance quality and internal quality information of the fruit in real time, and realize fast and accurate sorting through the detection model algorithm, which is suitable for the efficient picking of various fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a structural schematic diagram of a mobile fruit picking and sorting equipment.

[0021] Figure 2The present invention is a schematic diagram of the three-dimensional structure of an improved picking robot arm.

[0022] Figure 3 The present invention is a schematic diagram of a cross-section structure of an improved sorting and picking structure.

[0023] Figure 4 A schematic diagram of the structure of a type of improved sorter in cross-section.

[0024] Figure 5 The present invention is a schematic diagram of the structure of a quality sorter after improvement.

[0025] Figure 6 The present invention is a schematic diagram of the structure of a mobile chassis after improvement when viewed from above.

[0026] Figure 7 The present invention is a schematic diagram of a side section structure after improvement of a displacement structure.

[0027] In the figure: mobile chassis-1, partition storage box-2, control center-3, drive motor-4, picking mechanical arm-5; Central rotating shaft 51, rotating disk 52, positioning block 53, No. 1 rotating rod 54, No. 2 rotating rod 55, sorting and picking structure 56; Displacement structure-11, central column-12, fixed block-13, bottom plate-14, bearing plate-15; Connect the power supply block 561, the connection block 562, the quality sorter 563, the grab module 564, the type sorter 565, and the fixing cavity 566; Small drive machine-5641, reverse screw-5642, slide-5643; Transparent layer-5651, rubber protection block-5652, photoelectric sensor module-5653, detection module-5654; Receiving block-5631, groove-5632, network sensor-5633, visual recognition lens-5634; Conductive block 111, assembly frame 112, vertical rail 113, slide bar 114, load-bearing bar 115, rotating wheel 116. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings: Example

[0029] Figures 1 to 7 As shown: The present invention provides a mobile fruit picking and sorting equipment. Its structure includes a mobile chassis 1, a partition storage box 2, a control center 3, a drive motor 4, and a picking robot arm 5. The upper side of the mobile chassis 1 is connected to the partition storage box 2 and the other side positions the control center 3. The upper end of the control center 3 controls the picking robot arm 5 through the drive motor 4.

[0030] Among them, the picking robot arm 5 is provided with a central rotating shaft 51, the upper end of the central rotating shaft 51 is connected to a turntable 52 and a positioning block 53 is also provided on the surface of the turntable 52. The positioning block 53 is used to limit the position of the No. 1 rotating rod 54, and then a No. 2 rotating rod 55 is spliced ​​on the top of the No. 1 rotating rod 54, and a sorting and picking structure 56 is installed at the front end of the No. 2 rotating rod 55.

[0031] Among them, a displacement structure 11 is provided at the bottom of the mobile chassis 1. The central part of the displacement structure 11 is limited by a central column 12, and the upper and lower ends of the central column 12 are installed on the surface center of the bottom plate 14 through a fixing block 13. A load-bearing plate 15 is also welded and fixed on the right side of the bottom plate 14.

[0032] Among them, the driving motor 4 of the control center 3 electrically controls the picking robot arm 5, and then the turntable 52 of the picking robot arm 5 combines with the central rotating shaft 51 to adjust the No. 1 rotating rod 54 on the positioning block 53 by 360°, and then the No. 1 rotating rod 54 cooperates with the No. 2 rotating rod 55 to adjust the inclination angle of the sorting and picking structure 56, and then the mobile chassis 1 uses the position of the central column 12 to adjust the balance distance of the two sets of displacement structures 11, and then the side load-bearing plate 15 allows the operator to stand through the groove to set the program of the control center 3.

[0033] The mobile chassis 1 positions the partition storage box 2 and the control center 3 as a whole on its surface, and then a fixing frame is provided at the edge of the control center 3 to complete the positioning and connection of the driving motor 4 and the picking mechanical arm 5.

[0034] Among them, the central rotating shaft 51 and the center of the rotating disk 52 coincide with each other and the positioning block 53 fixes the left and right sides of the No. 1 rotating rod 54 so that the No. 1 rotating rod 54 is positioned in a horizontal direction, and then the No. 2 rotating rod 55 is installed in the middle part of the No. 1 rotating rod 54 to cooperate with it and the top center of the No. 2 rotating rod 55 positions the sorting and picking structure 56.

[0035] Among them, the bottom plate 14 is a solid rectangular shape and the surface of the load-bearing plate 15 is opened with grooves, and then the central column 12 is positioned by two fixing blocks 13. The central column 12 restrains the central area of ​​the displacement structure 11 and then the surface is finely polished to allow the displacement structure 11 to adjust the spacing.

[0036] Among them, the sorting and picking structure 56 is provided with a connecting power block 561, the connecting power block 561 is installed at the lower end of the connecting block 562 and a quality sorter 563 is fixed to the upper end of the connecting block 562, and the left and right sides of the connecting block 562 are also connected to grabbing modules 564 and the distance between the two grabbing modules 564 forms a fixed cavity 566, and a type sorter 565 is also arranged in the area communicating with the fixed cavity 566.

[0037] Among them, a small driving machine 5641 is also arranged on the side of the grabbing module 564. The reverse screw 5642 connected to the center of the small driving machine 5641 is arranged horizontally at the center of the connecting block 562, and the two sliders 5643 at the lower ends of the two groups of grabbing modules 564 will slide through the reverse screw 5642.

[0038] Among them, the surface of the powered connecting block 561 also carries a card block and a slide rail is opened in the center of the surface of the connecting block 562 to allow the grabbing modules 564 on the left and right sides to slide left and right. The quality sorter 563 falls vertically into the surface of the connecting block 562 and communicates with the fixed cavity 566. The type sorters 565 on the left and right sides of the connecting block 562 are set in symmetrical positions. The type sorter 565 and the quality sorter 563 both carry a small connected powered block 561 to complete the positioning and powered installation.

[0039] Among them, the type sorter 565 is provided with a perspective layer 5651, and the perspective layer 5651 is integrated with the rubber protection block 5652. The rubber protection block 5652 contains a photoelectric sensor module 5653 and a detection module 5654. The photoelectric sensor module 5653 and the detection module 5654 are both electrically connected to the second rotating rod 55 through the connecting power block 561 and electrically connected to the control center 3.

[0040] The rubber protective block 5652 is connected to the fixed cavity 566 through the transparent layer 5651 area, and the internal photoelectric sensor module 5653 and the detection module 5654 are parallel to each other, and there is a small power circuit between the two for electrical connection.

[0041] The quality sorter 563 is provided with a receiving block 5631 , a groove 5632 is provided at the center of the upper end of the receiving block 5631 and a visual recognition lens 5634 is arranged inside, and network sensors 5633 are connected to the left and right sides of the visual recognition lens 5634 .

[0042] The receiving block 5631 is in a rectangular shape and is parallel to the center of the upper end of the connecting block 562 , and the groove 5632 is in an arc shape to allow the fruit to be embedded. The visual recognition lens 5634 is installed in the inner center of the receiving block 5631 and recognizes the fruit through the groove 5632 .

[0043] Among them, the displacement structure 11 is provided with a conductive block 111, and the conductive block 111 is installed at the upper end of the assembly frame 112. Vertical rails 113 are opened on the left and right sides of the surface of the assembly frame 112 to allow the sliding rod 114 to be embedded, and a load-bearing rod 115 is fixed at the center of the lower end of the sliding rod 114, and a rotating wheel 116 is connected to the center of the lower end of the load-bearing rod 115.

[0044] Among them, a vertical cavity is opened in the center of the assembly frame 112 to allow the load-bearing rod 115 of the slide rod 114 to be vertically installed. The slide rod 114 and the load-bearing rod 115 form a "T" shape and the bottom rotating wheel 116 is a spherical shape. The left and right sides of the slide rod 114 include small moving wheels that slide vertically in the vertical rail 113.

[0045] Specific functions and operation procedures of this embodiment: In the present invention, the mobile fruit picking and sorting equipment can install the partition storage box 2 and the control center 3 and other components through the mobile chassis 1, and then the mobile chassis 1 will control the displacement structure 11 of its lower layer through the control center 3, so that the displacement structure 11 can be combined with the center column 12 of the bottom plate 14 to adjust the spacing by using the bottom wheel 116, so that it can meet the range of the mobile area in the field, and then the upper and lower ends of the center column 12 can be spliced ​​with the bottom plate 14 through the fixed block 13, and then the staff can stand and control the control center 3 through the groove of the weighing plate 15, and then the assembly frame 112 of the displacement structure 11 can be electrically connected to the control center 3 through the conductive block 111, and the vertical rail 113 in the assembly frame 112 allows the slide bar The small pulleys on both sides of 114 are embedded, and the exposed height of the load-bearing rod 115 can be adjusted through the vertical rail 113 to ensure that the height of the picking robot arm 5 can match the height of the fruit tree, achieve stable picking and adaptability to multiple terrains, and can flexibly travel in the orchard. Then the control center 3 can control the picking robot arm 5 through the drive motor 4, so that the picking robot arm 5 will combine with the central shaft 51 and the turntable 52 to perform 360° rotation adjustment on all parts on the positioning block 53, and then the No. 1 rotating rod 54 in the positioning block 53 can combine with the No. 2 rotating rod 55 to control the angle of the sorting and picking structure 56, and then the connecting block 562 of the sorting and picking structure 56 will complete the electrical connection with the control center 3 by connecting the power block 561. Then, the grabbing modules 564 on the left and right sides of the connecting block 562 can slide left and right on the connecting block 562 (a small driving machine 5641 is also arranged on the side of the grabbing module 564 and a transverse reverse screw 5642 is laid in the center of the connecting block 562, and the slider 5643 arranged at the lower end can drive the reverse screw 5642 to rotate through the small driving machine 5641 to slide, clamp or release), and the fruit is grabbed and picked by shrinking the fixed cavity 566. During the process, the type sorter 565 of the grabbing module 564 can contact the fruit through the rubber protective block 5652 to achieve flexible grabbing, and then the rubber protective block 5652 of the type sorter 565 will allow the photoelectric sensor module 5653 to communicate with the fruit through the perspective layer 5651. Then, the photoelectric sensor module 5653 and the built-in detection module 5654 can use the relevant algorithm to classify the fruits, and then combine the No. 1 rotating rod 54, the No. 2 rotating rod 55 and the turntable 52 to place the relevant types of fruits one by one in the partition storage box 2 for differentiated storage. At the same time, after the fruits contact the quality sorter 563 on the surface of the connecting block 562 through the fixed cavity 566, the receiving block 5631 of the quality sorter 563 can allow the fruits to be embedded through the arc groove 5632, so that the visual recognition lens 5634 built into the groove 5632 can be combined with the dedicated network sensor 5633 to perform visual inspection on the fruits, and the detection model algorithm can be used to achieve fast and accurate sorting, and the appearance quality and internal quality information of the fruits can be detected in real time.Further, fruits of different qualities and types are placed one by one in the partition storage box 2 to achieve the effect of accurate picking and classification; In summary, the mechanical coordination of various components and the detection coordination of relevant calculation models can effectively improve the use intensity and intelligent effect of the overall picking and sorting equipment, thereby improving the use intensity of the picking and sorting equipment; Furthermore, the present invention is suitable for dwarfed and densely planted orchard planting environments, can effectively reduce labor costs, improve the efficiency and quality of fruit picking and sorting, and at the same time improve the mechanization and intelligence level of orchard operations, providing reliable technical support for the modernization of the fruit industry.

[0046] Utilizing the technical solution of the present invention, or those skilled in the art designing similar technical solutions inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A mobile fruit picking and sorting equipment, the structure of which includes: A mobile chassis (1), a partition storage box (2), a control center (3), a drive motor (4), and a picking mechanical arm (5), wherein the upper side of the mobile chassis (1) is connected to the partition storage box (2) and the other side positions the control center (3), and the upper end of the control center (3) controls the picking mechanical arm (5) through the drive motor (4), and is characterized in that: The picking mechanical arm (5) is provided with a central rotating shaft (51), the upper end of the central rotating shaft (51) is connected to a rotating disk (52), and a positioning block (53) is also provided on the surface of the rotating disk (52), the positioning block (53) is used to define the position of a No. 1 rotating rod (54), and then a No. 2 rotating rod (55) is spliced ​​on the top of the No. 1 rotating rod (54), and a sorting and picking structure (56) is installed at the front end of the No. 2 rotating rod (55); The bottom of the mobile chassis (1) is provided with a displacement structure (11), the center of the displacement structure (11) is defined by a center column (12), and the upper and lower ends of the center column (12) are mounted on the center of the surface of a bottom plate (14) via a fixing block (13), and a load-bearing plate (15) is also welded and fixed to the right side of the bottom plate (14); The picking robot arm (5) is electrically controlled by the driving motor (4) of the control center (3), and then the turntable (52) of the picking robot arm (5) is combined with the central rotating shaft (51) to adjust the first rotating rod (54) on the positioning block (53) by 360 degrees, and then the first rotating rod (54) cooperates with the second rotating rod (55) to adjust the tilt angle of the sorting and picking structure (56), and then the mobile chassis (1) uses the position of the central column (12) to adjust the balance spacing of the two sets of displacement structures (11), and then the side load-bearing plate (15) allows the operator to stand through the groove to set the program of the control center (3).

2. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The mobile chassis (1) positions the partition storage box (2) and the control center (3) as a whole on its surface, and then a fixing frame is arranged on the edge of the control center (3) to complete the positioning and connection of the driving motor (4) and the picking mechanical arm (5).

3. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The center axis (51) and the center of the rotating disk (52) coincide with each other, and the positioning block (53) fixes the left and right sides of the first rotating rod (54) so ​​that the first rotating rod (54) is positioned in a horizontal direction. Then, the second rotating rod (55) is installed in the middle part of the first rotating rod (54) to flexibly cooperate with it, and the center of the top of the second rotating rod (55) positions the sorting and picking structure (56).

4. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The bottom plate (14) is in a solid rectangular shape and a groove is opened on the surface of the load-bearing plate (15). Then, the central column (12) is positioned using two fixing blocks (13). The central column (12) restrains the central area of ​​the displacement structure (11) and then the surface is finely polished to allow the displacement structure (11) to adjust the spacing.

5. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The sorting and picking structure (56) is provided with a connecting and energizing block (561), the connecting and energizing block (561) is mounted on the lower end of the connecting block (562), and a quality sorter (563) is fixed on the upper end of the connecting block (562), the connecting block (562) is also connected to gripping modules (564) on the left and right sides, and the distance between the two gripping modules (564) forms a fixed cavity (566), and a type sorter (565) is also provided in an area communicating with the fixed cavity (566); A small drive machine (5641) is also arranged on the side of the grabbing module (564), and a reverse screw rod (5642) connected to the center of the small drive machine (5641) is arranged transversely at the center of the connecting block (562), and two sliding blocks (5643) at the lower ends of the two groups of grabbing modules (564) will slide through the reverse screw rod (5642); The surface of the energized connection block (561) also carries a card block, and a slide rail is opened in the center of the surface of the connection block (562) to allow the grabbing modules (564) on the left and right sides to slide left and right. The quality sorter (563) falls vertically into the surface of the connection block (562) and communicates with the fixed cavity (566). The type sorters (565) on the left and right sides of the connection block (562) are set in symmetrical positions. The type sorter (565) and the quality sorter (563) both carry a small connection energized block (561) to complete the positioning and energizing installation.

6. The mobile fruit picking and sorting equipment according to claim 5, characterized in that: The type sorter (565) is provided with a perspective layer (5651), the perspective layer (5651) and the rubber protection block (5652) are integrated, and the rubber protection block (5652) contains a photoelectric sensor module (5653) and a detection module (5654), and the photoelectric sensor module (5653) and the detection module (5654) are both electrically connected to the second rotating rod (55) through the connection power block (561) and are electrically connected to the control center (3); The rubber protection block (5652) is connected to the fixed cavity (566) via the transparent layer (5651) area, and the photoelectric sensor module (5653) and the detection module (5654) inside are parallel to each other, and there is a small power supply line between the two for electrical connection.

7. The mobile fruit picking and sorting equipment according to claim 5, characterized in that: The quality sorter (563) is provided with a receiving block (5631), the receiving block (5631) having a groove (5632) at the center of the upper end thereof and a visual recognition lens (5634) arranged therein, and network sensors (5633) connected to the left and right sides of the visual recognition lens (5634); The receiving block (5631) is in the shape of a rectangular parallelepiped and is parallel to the center of the upper end of the connecting block (562); the groove (5632) is in the shape of an arc to allow fruit to be embedded; the visual recognition lens (5634) is installed in the center of the receiving block (5631) and recognizes the fruit through the groove (5632).

8. The mobile fruit picking and sorting equipment according to claim 1, characterized in that: The displacement structure (11) is provided with a conductive block (111), the conductive block (111) is installed at the upper end of the assembly frame (112), and vertical rails (113) are opened on the left and right sides of the surface of the assembly frame (112) to allow the sliding rod (114) to be embedded, and a load-bearing rod (115) is fixed at the center of the lower end of the sliding rod (114), and a rotating wheel (116) is connected to the center of the lower end of the load-bearing rod (115); The assembly frame (112) has a vertical cavity in the center to allow the load-bearing rod (115) of the slide bar (114) to be vertically installed. The slide bar (114) and the load-bearing rod (115) form a "T" shape and the bottom rotating wheel (116) is in the form of a sphere. The left and right sides of the slide bar (114) include small moving wheels that slide vertically in the vertical rail (113).

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