Field grading device capable of being carried on orchard operation platform

Abstract

The invention relates to a field grading device capable of being carried on an orchard working platform, which comprises a fruit sequencing module, a detection grading module, a fruit picking module and a fruit boxing module, and the fruit sequencing module, the detection grading module, the fruit picking module and the fruit boxing module are connected in sequence; the fruit sequencing module is used for receiving the fruit grains subjected to impurity removal, separating the fruit grains and conveying the fruit grains to the detecting and grading module; the detecting and grading module is used for receiving the separated fruit grains, collecting images of the fruit grains and conveying the fruit grains with the images collected to the fruit picking module; and the fruit picking module is used for receiving the fruit grains after image acquisition, so that the fruit grains after image acquisition are sequentially sorted and conveyed, and the fruit grains are conveyed to the fruit boxing module. According to the field grading device, fruit grains can be rapidly graded and boxed in the field, the automation degree is high, the fruit processing efficiency is improved, the waiting time of the fruits before the fruits enter a refrigeration house is shortened, and the field grading device belongs to the technical field of agricultural machinery.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a field grading device that can be mounted on an orchard operation platform. Background Art

[0002] By grading fruits in the field, fruits with poor appearance, uneven maturity, and pests and diseases can be removed in a timely and effective manner, reducing subsequent processing and sorting work, contributing to the traceable management of fruits, and improving production efficiency and market competitiveness of products.

[0003] However, current fruit grading equipment has low automation, complex structure, and high cost, and is mostly used in production enterprises of a certain scale. It cannot be applied to the detection and grading of fruits by fruit farmers in the field, and fruit farmers can only rely on preliminary grading of fruits in the field, resulting in low grading efficiency. Summary of the Invention

[0004] Aiming at the technical problems existing in the prior art, the purpose of the present invention is to provide a field grading device that can be mounted on an orchard operation platform, so as to solve the problems that existing fruit grading equipment cannot be applied to the detection and grading of fruits by fruit farmers in the field, has low automation, and can only rely on fruit farmers to conduct preliminary grading of fruits in the field, resulting in low grading efficiency.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A field grading device that can be mounted on an orchard operation platform includes a fruit sequencing module, a detection and grading module, a fruit picking module, and a fruit packing module. The fruit sequencing module, the detection and grading module, the fruit picking module, and the fruit packing module are connected in sequence. The fruit sequencing module is used to receive the sorted granular fruits and separately convey the granular fruits to the detection and grading module. The detection and grading module is used to receive the separated granular fruits, collect images of the granular fruits, and convey the granular fruits after image collection to the fruit picking module. The fruit picking module is used to receive the granular fruits after image collection, sequentially sort and convey the granular fruits after image collection, and convey the granular fruits to the fruit packing module.

[0006] As a preference, the fruit sequencing module includes a module support, a fruit storage box, a partition channel, a sequencing motor, a partition straight plate slotting roller, a telescopic pipe fixing bracket, partition small plates and partition straight plates. The module support is used to connect with the orchard operation platform. The fruit storage box is arranged on the module support. The telescopic pipe fixing bracket is arranged at the feeding frame opening of the fruit storage box and is used to connect with the telescopic pipe for conveying granular fruits. The partition straight plate slotting roller penetrates through the fruit storage box and extends along the length direction of the discharging frame opening of the fruit storage box. The sequencing motor is connected with the partition straight plate slotting roller. The number of partition straight plates is multiple, and the multiple partition straight plates are inserted on the partition straight plate slotting roller at intervals. The number of partition small plates is multiple, and multiple partition small plates are inserted on each partition straight plate at intervals. Each partition small plate is perpendicular to the partition straight plate. The adjacent two partition straight plates and the adjacent two partition small plates enclose an independent sequencing space. The partition channel is fixed at the discharging frame opening of the fruit storage box and has multiple partition spaces, and each partition space corresponds to the area between the adjacent two partition straight plates.

[0007] As a preference, a first straight groove is provided on the module support, and the module support is adjustably connected with the fruit storage box through the first straight groove; a second straight groove is provided on the fruit storage box, and the fruit storage box is adjustably connected with the telescopic pipe fixing bracket through the second straight groove.

[0008] As a preference, the detection and grading module includes a detection box support, a detection conveyor belt support, a docking channel, a detection conveyor belt, a detection motor, a tensioning shaft, a detection box cover cloth, an image acquisition sensor and a supplementary light. Both the detection box support and the detection conveyor belt support are used to connect with the orchard operation platform. The detection conveyor belt is connected with the detection conveyor belt support. The docking channel is docked with the fruit sequencing module and is arranged on the detection conveyor belt support and above the detection conveyor belt. The detection motor drives the detection conveyor belt to move on the detection conveyor belt support. The tensioning shaft is arranged on the detection conveyor belt support and is used to adjust the tension of the detection conveyor belt. The image acquisition sensor and the supplementary light are arranged on the detection box support, and the detection box cover cloth is sleeved outside the detection box support. The supplementary light faces the detection conveyor belt, and the image acquisition sensor is used to acquire the images of the granular fruits conveyed on the detection conveyor belt.

[0009] As a preference, the fruit picking module includes a packing conveyor belt, a packing motor, a fruit blocking plate and a fruit pushing motor. The fruit blocking plate is arranged on the side of the packing conveyor belt. The packing motor drives the packing conveyor belt to move. The fruit pushing motor is arranged on the packing conveyor belt to push the granular fruits conveyed by the packing conveyor belt to the fruit packing module. Among them, push plates are arranged on the packing conveyor belt at intervals, and the adjacent push plates enclose an independent space for conveying granular fruits.

[0010] As a preference, the fruit packing module includes a first fruit box, a second fruit box and a fruit channel. The first fruit box and the second fruit box are used to be placed on the orchard operation platform. The fruit channel is docked with the fruit picking module. Both ends of the fruit channel are respectively connected to the first fruit box and the second fruit box. A second sensor is provided at the port of the fruit channel, and the second sensor is used to detect whether the corresponding first fruit box or second fruit box is full.

[0011] As a preference, the fruit channel is arranged at an inclination of 5 degrees to 10 degrees.

[0012] As a preference, the drives of the fruit sequencing module and the detection and grading module start and stop simultaneously.

[0013] As a preference, the first fruit box and the second fruit box are respectively placed on the orchard operation platform through the first fruit box bracket and the second fruit box bracket. The first fruit box bracket and the second fruit box bracket are respectively provided with a first box retaining rod and a second box retaining rod, and the first box retaining rod and the second box retaining rod respectively surround the outside of the first fruit box and the second fruit box.

[0014] As a preference, the detection and grading module further includes a blower, and the blower is arranged on the detection box bracket and faces the detection conveyor belt.

[0015] Generally speaking, the present invention has the following advantages: 1. A field grading device that can be mounted on an orchard operation platform provided by the present invention, by being installed on the orchard operation platform, can quickly grade granular fruits according to quality in the field, pack them separately according to the grading results, and directly send the packed fruits into the cold storage, thereby significantly improving the fruit processing efficiency and reducing the waiting time of the fruits before entering the cold storage.

[0016] 2. A field grading device that can be mounted on an orchard operation platform provided by the present invention, by instantaneously blowing air to the detection conveyor belt of the detection and grading module by a blower, makes the granular fruits blown to flip, so as to collect granular fruit image data at different angles and improve the integrity of the image data.

[0017] 3. A field grading device that can be mounted on an orchard operation platform provided by the present invention, through the self-deployed yolo-v8 deep learning model, can detect indexes such as the maturity, sugar content, diameter, volume, weight, appearance defects (such as spots, breakages, cracked fruits, color changes), diseased fruits, and insect-infested fruits of granular fruits based on the collected image data, and provide dynamic quality evaluation according to different commercial positioning strategies, consumer preferences, and market demands.

[0018] 4. A field grading device that can be mounted on an orchard operation platform provided by the present invention, the rotation of the idler roller drives the conveyor belt to move, and the idler roller is connected to the frame through a stainless steel rotating shaft. According to different fruit varieties, the idler roller can be disassembled to replace the conveyor belt with different partition distances and partition sizes.

[0019] 5. A field grading device that can be mounted on an orchard operation platform provided by the present invention. The ranging sensor in the fruit packing module can monitor the stacking degree of fruits in the fruit box in real time, predict the time when the fruit box is full, so as to arrange the task of replacing the fruit box in time.

[0020] 6. A field grading device that can be mounted on an orchard operation platform provided by the present invention. According to the fruit quality evaluation results, combining the ranging sensor data with the motor start-stop time, it can statistically analyze the fruit quality distribution of fruit trees, so as to evaluate the fruit tree management level within that year and provide a decision-making basis for operation links such as irrigation, fertilization, and tree body management. Description of the Drawings

[0021] Figure 1 is a perspective view of the field grading device; Figure 2 is a perspective view when the field grading device is mounted on an orchard operation platform; Figure 3 is a schematic structural view of the fruit sequencing module; Figure 4 is a schematic structural view of the detection and grading module; Figure 5 is a schematic structural view of the fruit picking module; Figure 6 is a schematic structural view of the fruit packing module; Figure 7 is another schematic view of the fruit packing module; Among them, 01 - orchard operation platform; 02 - telescopic pipe; 03 - fruit sequencing module, 0301 - telescopic pipe fixing bracket, 0302 - fruit storage basket, 0303 - partition small plate, 0304 - partition straight plate, 0305 - sequencing motor, 0306 - partition straight plate slot roller, 0307 - partition channel, 0308 - module bracket; 04 - detection and grading module, 0401 - detection box bracket, 0402 - detection box cover, 0403 - image acquisition sensor, 0404 - fill light, 0405 - docking channel, 0406 - detection conveyor belt, 0407 - detection motor, 0408 - tensioning shaft, 0409 - detection conveyor belt bracket, 0410 - fan; 05 - fruit picking module, 0501 - packing motor, 0502 - packing conveyor belt, 0503 - packing conveyor belt bracket, 0504 - fruit blocking plate, 0505 - first sensor, 0506 - tensioning fork, 0507 - fruit pushing motor, 0508 - fruit pushing motor bracket, 0509 - fruit pushing wheel, 0510 - pressure belt wheel; 06 - fruit packing module, 0601 - second fruit box, 0602 - second fruit box blocking rod, 0603 - second fruit box bracket, 0604 - fruit channel, 0605 - first fruit box, 0606 - first fruit box blocking rod, 0607 - first fruit box bracket, 0608 - magnet, 0609 - hook, 0610 - second sensor. Detailed implementation mode

[0022] The present invention will be further described in detail below in conjunction with the specific implementation mode.

[0023] As Figures 1 - 7 As shown, a field grading device that can be mounted on the orchard operation platform 01 provided in this embodiment includes a fruit sequencing module 03, a detection and grading module 04, a fruit picking module 05, and a fruit packing module 06. The fruit sequencing module 03, the detection and grading module 04, the fruit picking module 05, and the fruit packing module 06 are connected in sequence. The fruit sequencing module 03 is used to receive the sorted fruits after impurity removal and separate and convey the sorted fruits to the detection and grading module 04. The detection and grading module 04 is used to receive the sorted fruits, collect images of the sorted fruits, and convey the sorted fruits after image collection to the fruit picking module 05. The fruit picking module 05 is used to receive the sorted fruits after image collection, sequentially sort and convey the sorted fruits after image collection, and convey the sorted fruits to the fruit packing module 06.

[0024] Workers pick cluster fruits near the tree crown in the orchard through the orchard operation platform 01. After the picked cluster fruits are separated from the branches and leaves, the sorted fruits pass through the telescopic pipe 02 and reach the fruit sequencing module 03, where they are separated into individual spaces. The evaluation grade of the fruits is obtained through the detection and grading module 04. According to the evaluation grade, the fruits are sorted by the fruit picking module 05 into the fruit channels of the corresponding grades and enter the preset fruit boxes through the fruit channels. When the fruit box is full, it can be replaced with an empty box by subsequent workers or following the freight trolley. The full fruit box is transported to the cold storage for storage as soon as possible.

[0025] The device also includes a control system, which consists of an industrial control computer, an Arduino development board, a motor driver, a fan driver, and signal lines. The industrial control computer is used to store programs such as the yolo-v8 model and automation control algorithms. The Arduino development board is connected to the industrial control computer to transmit data. The Arduino development board is connected to all the sensors in the embodiment to receive sensor detection data. The Arduino development board is connected to the motor driver and the fan driver to send the operation parameter data of all motors and fans. The motor driver and the fan driver are connected to the corresponding motors and fans for operation control.

[0026] The fruit sequencing module 03 includes a module bracket 0308, a fruit storage box 0302, a separation channel 0307, a sequencing motor 0305, a separating straight plate slot roller 0306, a telescopic pipe fixing bracket 0301, separating small plates 0303, and separating straight plates 0304. The module bracket 0308 is used to connect to the orchard operation platform 01 and support the other components. The fruit storage box is arranged on the module bracket 0308. The telescopic pipe fixing bracket 0301 is arranged at the feeding opening of the fruit storage box and is used to connect to the telescopic pipe 02 for transporting the sorted fruits. The separating straight plate slot roller 0306 penetrates the fruit storage box and extends along the length direction of the discharging opening of the fruit storage box. The sequencing motor 0305 is installed outside the fruit storage box and is connected to the separating straight plate slot roller 0306. The number of separating straight plates 0304 is multiple, and multiple separating straight plates 0304 are inserted into the separating straight plate slot roller 0306 at intervals. The number of separating small plates 0303 is multiple, and multiple separating small plates 0303 are inserted into each separating straight plate 0304 at intervals. Each separating small plate 0303 is perpendicular to the separating straight plate 0304. The adjacent two separating straight plates 0304 and the adjacent two separating small plates 0303 enclose an independent sequencing space. The separation channel 0307 is fixed at the discharging opening of the fruit storage box and has multiple separation spaces, and each separation space corresponds to the area between the adjacent two separating straight plates 0304. Specifically, the separating straight plates 0304 and the separating small plates 0303 are replaceable to adapt to different varieties and sizes of sorted fruits.

[0027] The granular fruits fall from the telescopic pipe 02 into the fruit storage basket 0302. As the sequencing motor 0305 drives the partition straight plate slot roller 0306 to rotate, the granular fruits are continuously separated by the independent sequencing spaces formed by the partition straight plate slot roller 0306, the partition straight plate 0304, and the partition plate, and reach the next area through the partition channel 0307.

[0028] The module bracket 0308 is provided with a first straight groove, and the module bracket 0308 is adjustably connected to the fruit storage frame through the first straight groove; the fruit storage frame is provided with a second straight groove, and the fruit storage frame is adjustably connected to the telescopic pipe fixing bracket 0301 through the second straight groove. Specifically, the first straight groove and the second straight groove are long rectangular grooves, which can facilitate the locking of nuts and bolts after the fruit storage frame and the telescopic pipe fixing bracket 0301 slide to the corresponding positions.

[0029] The detection and grading module 04 includes a detection box bracket 0401, a detection conveyor belt bracket 0409, a docking channel 0405, a detection conveyor belt 0406, a detection motor 0407, a tensioning shaft 0408, a detection box cover 0402, an image acquisition sensor 0403, and a supplementary light 0404. Both the detection box bracket 0401 and the detection conveyor belt bracket 0409 are used to connect to the orchard operation platform 01. The detection conveyor belt 0406 is connected to the detection conveyor belt bracket 0409. The docking channel 0405 is docked with the fruit sequencing module 03. The docking channel 0405 is arranged on the detection conveyor belt bracket 0409, and the docking channel 0405 is located above the detection conveyor belt 0406. The detection motor 0407 drives the detection conveyor belt 0406 to move on the detection conveyor belt bracket 0409. The tensioning shaft 0408 is arranged on the detection conveyor belt bracket 0409, and the tensioning shaft 0408 is used to adjust the tension of the detection conveyor belt 0406; the image acquisition sensor 0403 and the supplementary light 0404 are arranged on the detection box bracket 0401, and the detection box cover 0402 is sleeved outside the detection box bracket 0401; the supplementary light 0404 faces the detection conveyor belt 0406, and the image acquisition sensor 0403 is used to collect the images of the granular fruits conveyed on the detection conveyor belt 0406. The detection and grading module 04 further includes a blower 0410. The blower 0410 is arranged on the detection box bracket 0401, and the blower 0410 is arranged facing the detection conveyor belt 0406. Specifically, the docking channel 0405 is made of transparent PC board or similar materials to ensure strength and light transmittance. The detection box cover 0402, the image acquisition sensor 0403, and the supplementary light 0404 are connected to the detection box bracket 0401 by means of Velcro or magnetic attraction, etc. The blower 0410 is connected to the detection box bracket 0401 through bolts and rubber pads.

[0030] The detection box is the structure composed of the detection box bracket, the detection box cover 0402, the image acquisition sensor 0403, and the supplementary light 0404.

[0031] Air is blown onto the inspection conveyor belt 0406 by the blower 0410 to flip the granular fruits that are blown, so as to collect granular fruit image data at different angles and improve the integrity of the image data. The image acquisition sensor 0403 captures the fruit images on the inspection conveyor belt 0406 in real time. A detection and grading program is preset in the control system. The detection and grading program processes the fruit images collected by the image acquisition sensor 0403, assigns a number to each fruit, and based on the collected image data, evaluates indicators such as the maturity, sugar content, diameter, volume, weight, appearance defects (such as spots, breakage, cracked fruits, color change), diseased fruits, and insect-infested fruits of the granular fruits through the yolo-v8 deep learning model deployed by itself. According to different commercial positioning strategies, consumer preferences, and market demands, dynamic quality assessment can be achieved by adjusting the system parameters.

[0032] The special mark of the inspection conveyor belt 0406 is a cross-shaped, star-shaped or polygonal pattern sticker pasted on both sides of the conveyor belt width, and the mark is selectively installed according to different operation requirements.

[0033] After the system starts working, the acquisition sensor 0403 starts to detect whether there are granular fruits on the inspection conveyor belt. If there are granular fruits, the control system counts the granular fruits from left to right, and the number of the granular fruit is the number of the fruit detected during the operation of the control system. The control system can effectively avoid duplicate counting through the special mark. This number is only used for the cooperative operation control of the detection and grading module and the picking module and is not saved after the control system is powered off.

[0034] When the special mark area of the inspection conveyor belt 0406 enters the detection box and is captured by the image acquisition sensor 0403, the detection motor 0407 will stop rotating for a period of time, and this time is adjusted according to the operation parameters.

[0035] The yolo-v8 deep learning model is an existing model and will not be elaborated here.

[0036] The principle of the detection and grading module 04 package is as follows: All granular fruits fall into the independent space formed by the detection conveyor belt 0406 and the docking channel 0405 on the detection conveyor belt 0406, and pass through the area of the detection box as the detection conveyor belt 0406 is driven by the detection motor 0407. This area blocks external natural light through the detection box cover 0402, supplements light through the supplementary light 0404, and the image acquisition sensor 0403 collects data in real time. When a specific area of the detection conveyor belt 0406 reaches the detection box, the detection conveyor belt 0406 stops for a period of time, and at the same time, the fruit sequencing module 03 also stops moving for the same time. During this stop time, the fan 0410 blows air into the independent space on the detection conveyor belt 0406 to turn the granular fruits over, and the image acquisition sensor 0403 collects the image data on the other side of the granular fruits. Then, the detection conveyor belt 0406 and the fruit sequencing module 03 continue to move, allowing the granular fruits to fall into the subsequent fruit picking module 05.

[0037] The drives of the fruit sequencing module 03 and the detection and grading module 04 start and stop simultaneously. By setting it in this way, the accuracy of detection and grading is ensured.

[0038] The fruit picking module 05 includes a packing conveyor belt 0502, a packing motor 0501, a fruit blocking plate 0504, and a fruit pushing motor 0507. The fruit blocking plate 0504 is arranged on the side of the packing conveyor belt 0502. The packing motor 0501 drives the packing conveyor belt 0502 to move. The fruit pushing motor 0507 is arranged on the packing conveyor belt 0502 to push the granular fruits conveyed by the packing conveyor belt 0502 into the fruit packing module 06. Among them, there are push plates distributed at intervals on the packing conveyor belt 0502, and adjacent push plates enclose an independent space for granular fruit transportation. The granular fruits detected by the detection and grading module 04 enter the independent space for granular fruit transportation on the packing conveyor belt 0502 in sequence according to the sorting. As the packing motor 0501 works to drive the packing conveyor belt 0502 to move, there is a first sensor 0505 on the packing conveyor belt support 0503. When the granular fruits start to pass the first sensor 0505, the first sensor 0505 receives a signal, and after being processed by the control system, it automatically controls the fruit pushing motor 0507 to drive the fruit pushing wheel 0509 to rotate forward and backward to push the fruits into the corresponding fruit channels.

[0039] The packing conveyor belt 0502 includes a packing conveyor belt support 0503, a driving roller, a driven roller, a belt, and a supporting roller. The belt is connected to the packing conveyor belt support 0503. The driving roller, the driven roller, and the supporting roller are rotationally connected to the packing conveyor belt support 0503. The packing motor 0501 drives the driving roller to rotate, and the driving roller drives the belt to move relative to the packing conveyor belt support 0503, and the driven roller assists the belt to rotate.

[0040] The fruit picking module 05 further includes a pressure belt wheel 0510, a tensioning fork 0506 and a bracket for the fruit picking motor 0507. The bracket for the fruit picking motor 0507 is installed on the packing conveyor belt bracket 0503, and the fruit picking motor 0507 is installed on the bracket for the fruit picking motor 0507. Both the pressure belt wheel 0510 and the tensioning fork 0506 are installed on the packing conveyor belt bracket 0503. The two fork tips at one end of the tensioning fork 0506 abut against the roller of the packing conveyor belt 0502, and the position is controlled by a reverse bolt at the other end. By turning the reverse bolt, the tensioning fork 0506 will drive the roller of the packing conveyor belt 0502 to move on the packing conveyor belt bracket 0503, and the tension of the packing conveyor belt 0502 (belt) is controlled by the tensioning fork 0506. The pressure belt wheel 0510 controls the climbing slope of the packing conveyor belt 0502 (belt) and also plays a certain tensioning role.

[0041] The fruit packing module 06 includes a first fruit box 0605, a second fruit box 0601 and a fruit passage 0604. The first fruit box 0605 and the second fruit box 0601 are used to be placed on the orchard operation platform 01. The fruit passage 0604 is docked with the fruit picking module 05. The two ends of the fruit passage 0604 are respectively connected to the first fruit box 0605 and the second fruit box 0601. A second sensor 0610 is provided at the port of the fruit passage 0604, and the second sensor 0610 is used to detect whether the corresponding first fruit box 0605 or second fruit box 0601 is full.

[0042] Specifically, the second sensor 0610 installed at the outlet of the fruit passage 0604 can be used to monitor the stacking degree of fruits in the fruit box in real time, facilitating the fruit farmer to replace the first fruit box 0605 and the second fruit box 0601 in time.

[0043] Specifically, the fruit farmer can calculate the time when the fruit box is full based on the monitoring data of the second sensor 0610, so as to arrange the task of replacing the fruit box in time.

[0044] Specifically, the fruit farmer can analyze the fruit quality grade distribution of each fruit tree by combining the data of the second sensor 0610 with the start and stop times of the detection motor 0407 and the sequencing motor 0305, so as to evaluate the fruit management level in that year and provide a decision-making basis for operation links such as irrigation, fertilization and tree body management.

[0045] The fruit passage 0604 is set at an inclination of 5 degrees to 10 degrees. By setting the fruit passage 0604 to be inclined, the fruit passage 0604 has an inclination angle of 5° to 10 degrees, enabling the granular fruits to roll into the first fruit box 0605 and the second fruit box 0601 by gravity.

[0046] The first fruit box 0605 and the second fruit box 0601 are respectively placed on the orchard operation platform 01 through the first fruit box support 0607 and the second fruit box support 0603. The first fruit box support 0607 and the second fruit box support 0603 are respectively provided with a first box-blocking rod 0606 and a second box-blocking rod 0602. The first box-blocking rod 0606 and the second box-blocking rod 0602 respectively surround the outside of the first fruit box 0605 and the second fruit box 0601. One side of the outside of the first fruit box support 0607 is welded with a bolt, and the other side is welded with a hook 0609. One end of the first box-blocking rod 0606 is connected to the bolt and can rotate around it, and the other end can be placed on the hook 0609 to limit the movement of the first fruit box 0605. Six magnets 0608 are adsorbed on the outside of the second fruit box support 0603. The magnets 0608 can be used to fix the posture of the second box-blocking rod 0602 to be vertical or horizontal, and the positions of the magnets 0608 can be adjusted according to the actual situation. The first fruit box support 0607 and the second fruit box support 0603 are connected and fixed to the orchard operation platform 01 through bolts. The fruit channel 0604 is fixed on the first fruit box support 0607 and the second fruit box support 0603 by welding. The middle part of the fruit channel 0604 is located on both sides of the fruit-pushing motor 0507. When the fruit-pushing motor 0507 pushes the granular fruit to the side of the fruit channel 0604 facing the first fruit box 0605, the granular fruit slides into the first fruit box 0605 along the fruit channel 0604, and vice versa, it slides into the second fruit box 0601. For example, the first fruit box 0605 contains relatively large granular fruits, and the second fruit box 0601 contains relatively small granular fruits.

[0047] By setting the above-mentioned fruit boxing module 06, the graded granular fruits fall into the corresponding fruit boxes along the inclined fruit channel 0604. When the second sensor 0610 detects that the corresponding fruit box is about to be full, the control system calls the operator or the following transfer vehicle to replace the full fruit box with an empty box.

[0048] The first sensor and the second sensor in the above embodiments are both distance measurement sensors. Since the equipment is mostly used for outdoor operations during the day, optoelectronic sensors are easily interfered by sunlight, so ultrasonic sensors are selected. The image acquisition sensor 0403 can be selected according to parameters such as the field of view size. For example, an industrial camera + lens module: MV-CS060-10UMUC-PRO 600 camera + MVL-MF0828M-8MP lens can meet most operation scenarios.

[0049] Principle: A field grading device that can be mounted on the orchard operation platform 01 can be used for fruit field grading work. After the bunch fruits picked by the staff go through fruit-branch separation and fruit-leaf separation, the sorted single fruits after impurity removal fall into the fruit storage basket 0302 of the fruit sequencing module 03 through the telescopic pipe 02. As the sequencing motor 0305 drives the partition straight plate slot roller 0306 to rotate, the single fruits are continuously separated by the independent sequencing spaces formed by the partition straight plate slot roller 0306, the partition straight plate 0304 and the partition board, and fall into the independent space formed by the detection conveyor belt 0406 and the docking channel 0405 on the detection conveyor belt 0406 through the partition channel 0307. As the detection motor 0407 drives the detection conveyor belt 0406 to move, the single fruits pass through the area of the detection box. This area blocks external natural light through the detection box cover 0402 and supplements light through the supplementary light lamp 0404. When a specific area of the detection conveyor belt 0406 reaches the detection box, the detection conveyor belt 0406 stops for a period of time, and at the same time, the fruit sequencing module 03 also stops moving for the same time. During this stop time, the blower 0410 blows air into the independent space on the detection conveyor belt 0406 to turn the single fruits over, so that the images of the single fruits can be comprehensively collected. Then the detection conveyor belt 0406 and the fruit sequencing module 03 continue to move, so that the detected single fruits enter the independent space on the packing conveyor belt 0502 of the fruit picking module 05 in sequence. As the packing motor 0501 works to drive the packing conveyor belt 0502 to move, when the single fruit starts to pass through the first sensor 0505, the first sensor 0505 receives a signal, and after being processed by the controller, it automatically controls the fruit pushing motor 0507 to drive the fruit pushing wheel 0509 to rotate forward, rotate backward or not move, so that the graded single fruits fall into the corresponding fruit boxes along the sloping fruit channel 0604. When the second sensor 0610 detects that the fruit box is about to be full, the operator or the following transfer vehicle is called through the program to replace the full fruit box with an empty box.

[0050] The above embodiments are the preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A field grading device that can be mounted on an orchard operating platform, characterized in that: It includes a fruit sequencing module, a detection and grading module, a fruit picking module and a fruit packing module, which are connected in sequence; The fruit sequencing module is used to receive the cleaned fruits and separate them for transport to the detection and grading module; The detection and grading module is used to receive the separated fruit grains, collect images of the fruit grains, and transport the fruit grains after the images are collected to the fruit picking module; The fruit picking module is used to receive the fruit grains after the image is collected, so that the fruit grains after the image is collected are sorted and transported in sequence, and then the fruit grains are transported to the fruit packing module.

2. A field grading device that can be mounted on an orchard operating platform according to claim 1, characterized in that: The fruit sequencing module includes a module bracket, a fruit storage frame, a separation channel, a sequencing motor, a separation straight plate slot roller, a telescopic tube fixing frame, a separation small plate and a separation straight plate. The module bracket is used to connect with the orchard operating platform, the fruit storage frame is arranged on the module bracket, the telescopic tube fixing frame is arranged at the feeding frame opening of the fruit storage frame, and the telescopic tube fixing frame is used to connect with the telescopic tube for conveying granular fruits; the separation straight plate slot roller passes through the fruit storage frame, and the separation straight plate slot roller extends along the length direction of the discharging frame opening of the fruit storage frame. The sequencing motor is connected with the separation straight plate slot roller. There are multiple separation straight plates, and multiple separation straight plates are inserted on the separation straight plate slot roller at intervals. There are multiple separation small plates, and multiple separation small plates are inserted on each separation straight plate at intervals. Each separation small plate is perpendicular to the separation straight plate. Two adjacent separation straight plates and two adjacent separation small plates form an independent sequencing space. The separation channel is fixed at the discharging frame opening of the fruit storage frame. The separation channel has multiple separation spaces, and each separation space corresponds to the area between two adjacent separation straight plates.

3. A field grading device that can be mounted on an orchard operation platform according to claim 2, characterized in that: A first straight groove is provided on the module bracket, and the module bracket is adjustably connected to the fruit storage frame through the first straight groove; a second straight groove is provided on the fruit storage frame, and the fruit storage frame is adjustably connected to the telescopic tube fixing frame through the second straight groove.

4. A field grading device that can be mounted on an orchard operation platform according to claim 1, characterized in that: The detection and grading module includes a detection box bracket, a detection conveyor belt bracket, a docking channel, a detection conveyor belt, a detection motor, a tensioning shaft, a detection box cloth, an image acquisition sensor and a fill light. The detection box bracket and the detection conveyor belt bracket are both used to connect with the orchard operating platform, the detection conveyor belt is connected to the detection conveyor belt bracket, the docking channel is docked with the fruit sequencing module, the docking channel is arranged on the detection conveyor belt bracket, the docking channel is located above the detection conveyor belt, the detection motor drives the detection conveyor belt to move on the detection conveyor belt bracket, the tensioning shaft is arranged on the detection conveyor belt bracket, and the tensioning shaft is used to adjust the tension of the detection conveyor belt; the image acquisition sensor and the fill light are arranged on the detection box bracket, and the detection box cloth is covered on the outside of the detection box bracket; the fill light faces the detection conveyor belt, and the image acquisition sensor is used to collect images of fruit grains transported on the detection conveyor belt.

5. A field grading device that can be mounted on an orchard operating platform according to claim 1, characterized in that: The fruit picking module includes a packing conveyor belt, a packing motor, a fruit blocking plate and a fruit picking motor. The fruit blocking plate is arranged on the side of the packing conveyor belt, the packing motor drives the packing conveyor belt to move, and the fruit picking motor is arranged on the packing conveyor belt to push the fruit conveyed by the packing conveyor belt to the fruit packing module; wherein, the packing conveyor belt is provided with push plates distributed at intervals, and adjacent push plates enclose an independent space for fruit conveying.

6. A field grading device that can be mounted on an orchard operating platform according to claim 1, characterized in that: The fruit packing module includes a first fruit box, a second fruit box and a fruit channel. The first fruit box and the second fruit box are used to be placed on the orchard working platform. The fruit channel is connected to the fruit picking module. Both ends of the fruit channel are respectively connected to the first fruit box and the second fruit box. A second sensor is provided at the port of the fruit channel. The second sensor is used to detect whether the corresponding first fruit box or second fruit box is full.

7. A field grading device that can be mounted on an orchard operation platform according to claim 6, characterized in that: The fruit channel is set at an inclination of 5 to 10 degrees.

8. A field grading device that can be mounted on an orchard operating platform according to claim 1, characterized in that: The drives of the fruit sequencing module and the detection and grading module are started and stopped at the same time.

9. A field grading device that can be mounted on an orchard operation platform according to claim 6, characterized in that: The first fruit box and the second fruit box are placed on the orchard working platform through the first fruit box bracket and the second fruit box bracket respectively. The first fruit box bracket and the second fruit box bracket are respectively provided with the first box blocking rod and the second box blocking rod, which respectively surround the outside of the first fruit box and the second fruit box.

10. A field grading device that can be mounted on an orchard operation platform according to claim 4, characterized in that: The detection and grading module also includes a fan, which is arranged on the detection box bracket and is arranged toward the detection conveyor belt.

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