An intelligent picking device for orchards

Abstract

The present invention discloses an intelligent orchard picking device, which relates to the field of orchard picking technology. The device comprises a picking vehicle, a data processing system installed inside the picking vehicle, wheels installed at the bottom of the picking vehicle, and a travel drive system connected to the wheels. The upper surface of the picking vehicle is provided with a groove, a transverse drive cylinder is installed inside the groove, a longitudinal drive cylinder is vertically installed on the upper surface of the moving part of the transverse drive cylinder, and a telescopic cylinder is installed on the upper surface of the moving part of the longitudinal drive cylinder. By providing a lifting cylinder, a first support cover, and a second support cover, the present invention can ensure that the fruit falls into the first support cover and the second support cover after the fruit stem is cut, and can effectively prevent the fruit from falling during the transfer process; by providing a fixed shaft, a rectangular sleeve, and a gear ring, the fruit can be picked and transferred simultaneously, avoiding the trouble of traditional robots using mechanical arms to place the fruit back and forth, and greatly improving the efficiency of fruit picking.

Description

Technical Field

[0001] The present invention relates to the technical field of orchard picking, and in particular to an intelligent orchard picking device. Background Art

[0002] Orchard intelligent picking technology is a modern agricultural technology that uses artificial intelligence and machine vision technology. Intelligent picking robots are an important part of this technology. For the picking process of some fruits in the orchard that need to be picked in bunches (such as loquats), the picking robot uses machine vision technology to photograph and analyze the loquat fruits in the orchard, identify the color, size and shape of the fruits and judge their maturity. Then, through wireless sensor network technology, it accurately locates the spatial position of the fruits. Finally, a robotic arm is used to cut the loquat stems and clamp the fruits to place the whole bunch of loquats into the material box. In addition, the intelligent picking robot is also equipped with an autonomous navigation system that can independently plan the path according to the orchard terrain and avoid obstacles. It can perform automatic picking without supervision.

[0003] Existing intelligent picking robots mostly use robotic arms to simulate human arms as actuators to pick fruits from trees and put them into bins. Although the robotic arms can move in multiple axes, each time a bunch of fruits is picked, the robotic arms need to move back and forth between the fruit picking area and the bin. The movement path is long, which not only causes the problem of long fruit picking intervals, but also shortens the service life of the robotic arms due to the frequent flexion and extension of the robotic arms. In addition, the robotic arms often transfer the fruits by clamping the fruit stems above the fruits. However, during the transfer process, the fruits are prone to shaking, causing partial or even whole bunches of fruits to fall, which is not conducive to the complete picking of the fruits. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent picking device for orchards to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an intelligent picking device for an orchard, comprising a picking vehicle, a data processing system installed inside the picking vehicle, wheels installed at the bottom of the picking vehicle, and a travel drive system connected to the wheels, wherein a groove is provided on the upper surface of the picking vehicle, a transverse driving cylinder is installed inside the groove, a longitudinal driving cylinder is vertically installed on the upper surface of the moving part of the transverse driving cylinder, a telescopic cylinder is installed on the upper surface of the moving part of the longitudinal driving cylinder, a fixed column is connected to the telescopic end of the top of the telescopic cylinder, an image acquisition camera is installed on the upper surface of the fixed column, a shearing assembly is installed on the fixed column below the image acquisition camera, and a gathering assembly is installed on the rear side of the telescopic cylinder;

[0006] The middle part of the fixed column is transversely cut off and integrally connected with a fixed shaft, a rectangular sleeve is provided on the outer side of the fixed shaft, and lifting cylinders are installed on the four side walls of the rectangular sleeve. Material support and transfer components are installed on the moving parts of the four lifting cylinders, and a gear ring is provided on the outer side of the rectangular sleeve below the lifting cylinder, and a gear is meshed and connected to one side of the gear ring, and a driving motor is connected to the bottom of the gear.

[0007] Preferably, the rectangular sleeve is in the shape of a hollow rectangular strip, the inner diameter of the rectangular sleeve matches the outer diameter of the fixed shaft and is smaller than the outer diameter of the fixed column, and the rectangular sleeve is sleeved outside the fixed shaft and forms a rotational connection with the fixed shaft.

[0008] Preferably, the drive motor is installed on the front side wall of the fixed column below the fixed shaft, the shaft end of the drive motor is connected to the center of the gear, a square hole is opened in the middle of the gear ring, and the rectangular sleeve passes through the gear ring and is connected to the inner wall of the gear ring.

[0009] Preferably, the material transfer assembly includes a mounting seat installed on a movable part of a lifting cylinder, a movable groove is provided inside the mounting seat, two movable blocks arranged up and down and crossing each other are provided inside the movable groove, a pin shaft is provided between the two movable blocks, a shift block is provided on one side of the two movable blocks, the two shift blocks are commonly connected to a double-headed cylinder, the other sides of the two movable blocks extend from the side wall of the mounting seat and are respectively connected to a first support cover and a second support cover, the inner walls of the first support cover and the second support cover are covered with sponge pads, a slot is provided on the side of the first support cover close to the second support cover, and an insert block is connected to the position of the second support cover corresponding to the slot.

[0010] Preferably, the two movable blocks are symmetrically arranged relative to the pin shaft and form a scissors shape. The two movable blocks are rotatably connected to the mounting seat through the pin shaft. The longitudinal section of the shift block is U-shaped. The movable block is movably connected to the shift block. The two shift blocks are respectively connected to the telescopic ends of the double-head cylinder.

[0011] Preferably, the first support cover and the second support cover are rotatably connected to the mounting seat via two movable blocks respectively. The first support cover and the second support cover are both in the shape of a quarter ellipsoid. The plug block is movably plugged into the slot, and the first support cover and the second support cover are closed to form a semi-ellipsoid.

[0012] Preferably, the shearing assembly includes a fixing ring installed on the outer side wall of the fixed column, the front side wall of the fixing ring is connected to a connecting block, the front side wall of the connecting block is connected to a C-shaped seat, and the left and right side walls of the C-shaped seat are both installed with shearing cylinders, the telescopic ends of the two shearing cylinders pass through the side walls of the C-shaped seat and are connected to shearing knives, the C-shaped seat opening faces the front side, the C-shaped seat is connected to the fixed column via the connecting block and the fixing ring, and the two shearing knives move left and right inside the C-shaped seat.

[0013] Preferably, the material collection assembly includes a connecting ring installed on the outside of the telescopic cylinder, the rear side wall of the connecting ring is connected to a base plate, the bottom of the base plate is connected to a ball bearing, a support frame is installed on the upper surface of the base plate, a rotating motor is installed on the upper surface of the base plate inside the support frame, the shaft end of the rotating motor is connected to a rotating shaft, the top of the rotating shaft is connected to a cold storage box, a material box is movably inserted inside the cold storage box, a drain pipe is connected to the bottom of the cold storage box, a box cover is connected to the top of the cold storage box, a hinge is connected between the rear side of the cold storage box and the box cover, an annular groove is opened through the box cover, and the inner walls on both sides of the annular groove are connected to elastic sealing gaskets.

[0014] Preferably, the bottom of the ball is in contact with the upper surface of the picking vehicle, the bottom plate is connected to the telescopic cylinder via a connecting ring, the bottom of the support frame is connected to the bottom plate, the top of the support frame is in contact with the bottom of the cold storage box, the cold storage box and the material box are both circular boxes with hollow interiors, the cold storage box uses thermal insulation material, the cold storage box is connected to the rotating motor via a rotating shaft, and the gap between the inner wall of the cold storage box and the material box is filled with ice cubes.

[0015] Preferably, the box cover is hinged to the refrigerator box via a hinge, and there are two elastic sealing pads, both of which are annular. The two elastic sealing pads are concentrically arranged and respectively installed on the inner walls on both sides of the annular groove, and the two elastic sealing pads are in contact with each other on the side away from the inner wall of the annular groove.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. This orchard intelligent picking device is equipped with a lifting cylinder, a first support cover and a second support cover. Before the shearing assembly cuts the fruit stem, the lifting cylinder on the front side of the rectangular sleeve drives the mounting seat to move up, and the mounting seat drives the movable block to move up. The two movable blocks respectively drive the closed first support cover and the second support cover to move up until the bottom of the fruit is inserted into the first support cover and the second support cover, so that the first support cover and the second support cover drag the bottom of the fruit and then cooperate with the shearing knife to cut. The first support cover and the second support cover are closed to form a semi-ellipsoid to support the bottom of the fruit for cutting, which can ensure that the fruit falls into the first support cover and the second support cover after the fruit stem is cut off, and can effectively prevent the fruit from falling during the transfer process, thereby maintaining the integrity of loquat picking.

[0018] 2. This orchard intelligent picking device is provided with a fixed shaft, a rectangular sleeve and a gear ring. After the fruit stem is cut off by the shearing component, the whole bunch of fruit is inside the first support cover and the second support cover. The gear is driven by the motor to rotate, and the gear drives the gear ring to rotate. The gear ring drives the rectangular sleeve to rotate outside the fixed shaft, and the rectangular sleeve drives the front lifting cylinder to rotate until the lifting cylinder moves to the rear side of the rectangular sleeve. The lifting cylinder drives the first support cover and the second support cover installed thereon to rotate, and drives the first support cover and the second support cover to move downward, so that the first support cover and the second support cover transfer the picked fruit to the material box. By providing four material transfer components, during the process of transferring the fruit, the other first support cover and the second support cover move to the front side of the rectangular sleeve for picking, so that the fruit picking and transfer can be carried out simultaneously, avoiding the trouble of traditional robots using mechanical arms to place the fruit back and forth, and greatly accelerating the efficiency of fruit picking.

[0019] 3. This orchard intelligent picking device is equipped with a cold storage box, a box cover and an elastic sealing gasket. When the first and second supporting covers carry the fruits and descend to the top of the cold storage box, the bottoms of the first and second supporting covers are inserted into the annular grooves, squeezing the two elastic sealing gaskets downward to deform. The double-headed cylinder extends, and the two movable blocks are pushed to rotate around the pin shaft by the shifting block. The movable blocks drive the first and second supporting covers away from each other, so that the fruits fall into the material box for storage. Ice cubes are filled between the material box and the cold storage box to quickly cool the fruits in the material box, providing a good refrigerated storage environment for the picked fruits.

[0020] 4. This orchard intelligent picking device is equipped with a rotating motor and a central axis. During the process of the first and second supporting covers successively transferring the fruits into the material box, the rotating motor drives the rotating shaft to rotate, the rotating shaft drives the refrigerated box to rotate, and the refrigerated box drives the material box to rotate, switching the positions of the first and second supporting covers inserted into the annular groove, so that the fruits are evenly spread in the material box, avoiding local accumulation and causing damage to the fruits. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a side sectional view of the present invention;

[0023] Figure 3 is a side sectional view of a fixing column of the present invention;

[0024] Figure 4 This is a schematic structural diagram of the material transfer assembly of the present invention;

[0025] Figure 5 This is a schematic structural diagram of the shearing assembly of the present invention;

[0026] Figure 6This is a schematic diagram of a cross-sectional top view of the material transfer assembly of the present invention;

[0027] Figure 7 It is a side sectional view of the aggregate assembly of the present invention.

[0028] In the figure: 1. Picking car; 2. Groove; 3. Horizontal drive cylinder; 4. Longitudinal drive cylinder; 5. Telescopic cylinder; 6. Fixed column; 61. Fixed shaft; 62. Rectangular sleeve; 63. Lifting cylinder; 64. Material transfer assembly; 641. Mounting seat; 642. Movable groove; 643. Movable block; 644. Pin; 645. Shifting block; 646. Double-headed cylinder; 647. First support cover; 648. Second support cover; 649. Sponge pad; 6410. Slot; 6411. Insert block; 65. Gear ring; 66. Gear; 67. Drive 1. Drive motor; 2. Image acquisition camera; 3. Shearing assembly; 4. Fixing ring; 5. Connecting block; 6. U-shaped seat; 7. Shearing knife; 8. Shearing cylinder; 9. Aggregate assembly; 10. Bottom plate; 11. Ball bearing; 12. Connecting ring; 13. Support frame; 14. Rotating motor; 15. Rotating shaft; 16. Refrigerated box; 17. Material box; 18. Drain pipe; 19. Box cover; 20. Hinge; 21. Annular groove; 22. Elastic sealing gasket; 23. Data processing system; 24. Travel drive system; 25. Wheel. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0032] like Figures 1 to 7 As shown, the orchard intelligent picking device of this embodiment includes a picking car 1, a data processing system 10 installed inside the picking car 1, wheels 12 installed at the bottom of the picking car 1 and a walking drive system 11 connected to the wheels 12, wherein the walking drive system 11 is a common vehicle driving system, which is used to drive the wheels 12 to rotate, steer and brake. The data processing system 10 is an existing system inside a traditional picking robot, which has a spatial positioning function and is equipped with an autonomous navigation system. A groove 2 is provided on the upper surface of the picking car 1, and the groove 2 is used to install a transverse driving cylinder 3 and a longitudinal driving cylinder 4. The transverse driving cylinder 3 is installed inside the groove 2 for driving the fixed column 6 to move left and right. The longitudinal driving cylinder 4 is vertically installed on the upper surface of the moving part of the transverse driving cylinder 3 for driving the fixed column 6 to move back and forth. A telescopic cylinder 5 is installed on the upper surface of the moving part of the cylinder 4, which is used to drive the fixed column 6 to move up and down, so that the fixed column 6 can move in three axes, thereby driving the shearing assembly 8 to shear and pick the fruits at different positions. The telescopic end of the top of the telescopic cylinder 5 is connected to the fixed column 6. An image acquisition camera 7 is installed on the upper surface of the fixed column 6. The image acquisition camera 7 is electrically connected to the data processing system 10 through a circuit, and is used to shoot and analyze the fruits in the orchard, identify the color, size and shape of the fruits, judge their maturity, and transmit the data to the data processing system 10. A shearing assembly 8 is installed on the fixed column 6 below the image acquisition camera 7, which is used to cut off the fruit stems at the top of the fruits. A collecting assembly 9 is installed on the rear side of the telescopic cylinder 5, which is used to collect the picked fruits and store them in a cold storage.

[0033] The middle part of the fixed column 6 is horizontally cut off and integrally connected with a fixed shaft 61. The upper and lower ends of the fixed shaft 61 are integrally connected to the fixed column 6. A rectangular sleeve 62 is provided on the outside of the fixed shaft 61 for installing four lifting cylinders 63. Lifting cylinders 63 are installed on the four side walls of the rectangular sleeve 62 for driving the material support and transfer assembly 64 to rise and fall. The moving parts of the four lifting cylinders 63 are all equipped with material support and transfer assemblies 64 for dragging the bottom of the fruit for shearing, and driving the cut fruit to be moved to the material box 98 for storage. A gear ring 65 is provided on the outside of the rectangular sleeve 62 below the lifting cylinder 63. A gear 66 is meshed and connected to one side of the gear ring 65, and a drive motor 67 is connected to the bottom of the gear 66.

[0034] Specifically, the rectangular sleeve 62 is in the shape of a rectangular strip with a hollow interior. The inner diameter of the rectangular sleeve 62 matches the outer diameter of the fixed shaft 61 and is smaller than the outer diameter of the fixed column 6. After the rectangular sleeve 62 is sleeved on the fixed shaft 61, the upper and lower sides of the rectangular sleeve 62 are restricted by the fixed column 6, so that the rectangular sleeve 62 is stuck on the outside of the fixed shaft 61 and cannot swing up and down. The rectangular sleeve 62 is sleeved on the outside of the fixed shaft 61 and forms a rotational connection with the fixed shaft 61. Through the rotation of the rectangular sleeve 62 on the outside of the fixed shaft 61, the rectangular sleeve 62 drives the front lifting cylinder 63 to rotate, and the lifting cylinder 63 drives the material transport assembly 64 carrying the fruit to rotate, so that other material transport assemblies 64 can pick the fruit at the same time during the fruit transfer process, avoiding the trouble of traditional robots using mechanical arms to place the fruit back and forth, and greatly speeding up the efficiency of fruit picking.

[0035] Furthermore, the drive motor 67 is installed on the front side wall of the fixed column 6 below the fixed shaft 61. The shaft end of the drive motor 67 is connected to the center of the gear 66. A square hole is opened in the middle of the gear ring 65. The rectangular sleeve 62 passes through the gear ring 65 and is connected to the inner wall of the gear ring 65. The gear 66 is driven to rotate by the drive motor 67, and the gear 66 drives the gear ring 65 to rotate. The gear ring 65 drives the rectangular sleeve 62 to rotate on the outside of the fixed shaft 61.

[0036] Furthermore, the material transfer assembly 64 includes a mounting base 641 mounted on a movable part of the lifting cylinder 63, and a movable groove 642 is provided inside the mounting base 641 to provide a movable space for the shift block 645 and the movable block 643 to move. Two movable blocks 643 are arranged up and down and cross each other, and a pin shaft 644 is provided between the two movable blocks 643. A shift block 645 is provided on one side of the two movable blocks 643. The shift block 645 is used to push the movable block 643 to rotate around the pin shaft 644, wherein the shift block 645 is in contact with the movable block 643 but not connected to adapt to the linear movement of the shift block 645 and the arc movement of the movable block 643. The two shift blocks 645 are commonly connected to a double-headed cylinder 646, and the other sides of the two movable blocks 643 extend from the side wall of the mounting base 641 and are respectively connected to a first support cover 647 and a second support cover 648. 48. The inner walls of the first support cover 647 and the second support cover 648 are both paved with sponge pads 649. The sponge pads 649 are used to buffer the contact between the fruit and the inner walls of the first support cover 647 and the second support cover 648, thereby protecting the fruit. A slot 6410 is provided on the side of the first support cover 647 close to the second support cover 648, and an insert block 6411 is connected to the position of the second support cover 648 corresponding to the slot 6410. When the first support cover 647 and the second support cover 648 are closed, the insert block 6411 is plugged into the slot 6410, so that the first support cover 647 and the second support cover 648 can only open and close left and right but not up and down, thereby maintaining the stability of the fruit when the first support cover 647 and the second support cover 648 are closed. The height of the slot 6410 is greater than the height of the insert block 6411, thereby providing sufficient space for the insert block 6411 to make an arc movement and insert into the slot 6410.

[0037] Furthermore, the two movable blocks 643 are symmetrically arranged relative to the pin shaft 644 and form a scissor shape. The two movable blocks 643 are both rotatably connected to the mounting seat 641 through the pin shaft 644. The longitudinal section of the shift block 645 is in a U-shape. The movable block 643 and the shift block 645 are movably plugged into each other. The two shift blocks 645 are respectively connected to the telescopic ends of the double-headed cylinder 646. Through the extension and retraction of the double-headed cylinder 646, the double-headed cylinder 646 drives the shift block 645 to move in the movable groove 642. The shift block 645 pushes the two movable blocks 643 to rotate around the pin shaft 644. The movable block 643 drives the first support cover 647 and the second support cover 648 to move away from or approach each other.

[0038] Furthermore, the first support cover 647 and the second support cover 648 are respectively connected to the mounting base 641 via two movable blocks 643 to form a rotational connection. The first support cover 647 and the second support cover 648 are both in the shape of a quarter ellipsoid. The insert block 6411 is movably plugged into the slot 6410. The first support cover 647 and the second support cover 648 are closed to form a semi-ellipsoid. The semi-ellipsoid formed by the closing of the first support cover 647 and the second support cover 648 supports the bottom of the fruit for shearing, instead of the traditional robot using the method of clamping and shearing the fruit stem, it can ensure that the fruit falls into the first support cover 647 and the second support cover 648 after the fruit stem is cut off, and can effectively prevent the fruit from falling during the transfer process, thereby maintaining the integrity of the fruit picking.

[0039] Furthermore, the shearing assembly 8 includes a fixing ring 81 installed on the outer wall of the fixing column 6, the front side wall of the fixing ring 81 is connected to a connecting block 82, and the front side wall of the connecting block 82 is connected to a C-shaped seat 83. When the longitudinal driving cylinder 4 drives the fixed column 6 to move forward, the fruit stalk is inserted into the inner side of the C-shaped seat 83, and the left and right side walls of the C-shaped seat 83 are installed with shearing cylinders 85. The telescopic ends of the two shearing cylinders 85 pass through the side walls of the C-shaped seat 83 and are connected with shearing knives 84. The opening of the C-shaped seat 83 faces the front side, and the C-shaped seat 83 is connected to the fixed column 6 via the connecting block 82 and the fixing ring 81. The two shearing knives 84 move left and right inside the C-shaped seat 83, and the shearing cylinder 85 is extended to push the two shearing knives 84 closer to each other to cut the fruit stalk and complete the fruit picking.

[0040] Furthermore, the collecting assembly 9 includes a connecting ring 93 installed on the outside of the telescopic cylinder 5, and the rear side wall of the connecting ring 93 is connected to a bottom plate 91 for installing a cold storage box 97. The bottom of the bottom plate 91 is connected to a ball 92 for rolling connection, and a support frame 94 is installed on the upper surface of the bottom plate 91. The support frame 94 is used to support the cold storage box 97 for stable rotation. A rotating motor 95 is installed on the upper surface of the bottom plate 91 inside the support frame 94. The rotating motor 95 is installed on the upper surface of the bottom plate 91. The shaft end of the rotating motor 95 is connected to a rotating shaft 96. The shaft end of the rotating motor 95 is connected to the rotating shaft 96. The top of the rotating shaft 96 is connected to the cold storage box 97, and the cold storage box 97 is movably plugged in. The box 98 and the refrigerator box 97 are connected to a drain pipe 99 at the bottom, and a valve is installed on the drain pipe 99. After the material box 98 is taken out of the refrigerator box 97, the ice cubes melt into water, which can be discharged through the drain pipe 99. The top of the refrigerator box 97 is connected to a box cover 910, and a hinge 911 is connected between the back side of the refrigerator box 97 and the box cover 910. An annular groove 912 is opened through the box cover 910 to facilitate the first support cover 647 and the second support cover 648 to pass through the box cover 910 and insert into the refrigerator box 97. The inner walls on both sides of the annular groove 912 are connected with elastic sealing gaskets 913 for sealing the annular groove 912 to prevent the loss of cold air in the refrigerator box 97.

[0041] Furthermore, the bottom of the ball 92 contacts the upper surface of the picking vehicle 1, and the bottom plate 91 is connected to the telescopic cylinder 5 via the connecting ring 93. When the transverse driving cylinder 3 and the longitudinal driving cylinder 4 drive the telescopic cylinder 5 to move forward, backward, left and right, the telescopic cylinder 5 drives the bottom plate 91 to move, so that the positions of the first supporting cover 647 and the second supporting cover 648 on the rear side of the rectangular sleeve 62 always correspond to the annular groove 912. The bottom of the support frame 94 is connected to the bottom plate 91, and the top of the support frame 94 contacts the bottom of the cold storage box 97. The cold storage box 97 and the material box 98 are both hollow circular boxes. Box 97 is made of heat-insulating material to provide a good cold storage environment for the picked fruits. The cold storage box 97 is connected to the rotating motor 95 via the rotating shaft 96. The gap between the inner wall of the cold storage box 97 and the material box 98 is filled with ice cubes. The rotating motor 95 drives the rotating shaft 96 to rotate, and the rotating shaft 96 drives the cold storage box 97 to rotate. The cold storage box 97 drives the material box 98 to rotate, switching the positions of the first support cover 647 and the second support cover 648 inserted into the annular groove 912, so that the fruits are evenly spread in the material box 98 to avoid local accumulation and damage to the fruits.

[0042] Furthermore, the box cover 910 is hinged to the cold storage box 97 via a hinge 911, which makes it easy to open the box cover 910 and replace the empty material box 98. The height of the material box 98 needs to be lower than the bottom of the box cover 910 so that the inner cavity of the material box 98 is connected to the cold storage box 97. There are two elastic sealing gaskets 913 and both are annular. The two elastic sealing gaskets 913 are concentrically arranged and respectively installed on the inner walls on both sides of the annular groove 912. The two elastic sealing gaskets 913 are in contact with the side away from the inner wall of the annular groove 912. After the bottom of the first support cover 647 and the second support cover 648 are inserted into the annular groove 912, the two elastic sealing gaskets 913 are squeezed downward and deformed. After the first support cover 647 and the second support cover 648 are pulled out, the elastic sealing gasket 913 rebounds to seal the annular groove 912.

[0043] The method of using this embodiment is as follows: when the user actually uses the picking vehicle 1 to intelligently pick fruits in the orchard, the walking drive system 11 first drives the wheels 12 to rotate. In the case of large-scale planting, a predetermined route can be set as the moving route of the picking vehicle 1. The wheels 12 drive the picking vehicle 1 to travel under the tree in the orchard. The image acquisition camera 7 collects the image of the fruit and performs image analysis to identify the color, size and shape of the fruit and judge its maturity. The data is then transmitted to the data processing system 10. The data processing system 10 accurately locates the spatial position of the fruit through wireless sensor network technology, and then controls the horizontal drive cylinder 3 to drive the longitudinal drive cylinder 4 to move left and right, and the longitudinal drive cylinder 4 drives the telescopic cylinder 5 to move left and right. The telescopic cylinder 5 is extended, so that the telescopic cylinder 5 drives the fixed column 6 to move to one side of the fruit, and then the longitudinal driving cylinder 4 drives the fixed column 6 to move forward through the telescopic cylinder 5, and the fixed column 6 drives the U-shaped seat 83 to move to both sides of the fruit stem through the fixing ring 81 and the connecting block 82. At this time, the two shearing knives 84 are respectively on the left and right sides of the fruit stem, and then the lifting cylinder 63 on the front side of the rectangular sleeve 62 drives the mounting seat 641 to move up, and the mounting seat 641 drives the movable block 643 to move up, and the two movable blocks 643 respectively drive the closed first support cover 647 and the second support cover 648 to move up until the bottom of the fruit is inserted into the first support cover 647 and the second support cover 648, so that the first support cover 647 and the second support cover 648 drag the bottom of the fruit, and then the shearing cylinder 85 is extended. The long pushes the two shearing knives 84 to approach each other, cuts the fruit stems and completes the picking of a bunch of loquats, and then drives the motor 67 to drive the gear 66 to rotate, the gear 66 drives the gear ring 65 to rotate, the gear ring 65 drives the rectangular sleeve 62 to rotate outside the fixed shaft 61, and the rectangular sleeve 62 drives the front lifting cylinder 63 to rotate. When the lifting cylinder 63 drives the first support cover 647 and the second support cover 648 to rotate around the fixed shaft 61 to the rear side of the rectangular sleeve 62, the lifting cylinder 63 drives the first support cover 647, the second support cover 648 and the fruit to move downward until the bottom of the first support cover 647 and the second support cover 648 are inserted into the annular groove 912, squeezing the two elastic sealing pads 913 downward to deform, cooperate with the double-headed cylinder 646 to extend, and push the two movable The block 643 rotates around the pin 644, and the movable block 643 drives the first support cover 647 and the second support cover 648 to move away from each other, so that the fruit falls into the material box 98 for storage, wherein the ice cubes filled between the material box 98 and the cold storage box 97 quickly cool down the fruit in the material box 98, providing a good cold storage environment for the picked fruit. While the first support cover 647 and the second support cover 648 transfer the fruit, the other first support covers 647 and the second support covers 648 repeat the above operation to pick and transfer the fruit. After the fruit falls into the material box 98, the double-headed cylinder 646 contracts, and the shifting block 645 pushes the two movable blocks 643 closer to each other. The movable block 643 drives the first support cover 647 and the second support cover 648 to close, and the plug block 6411 is plugged into the slot 6410.Then, the lifting cylinder 63 drives the first and second support covers 647 and 648 upward to re-enter the fruit picking cycle. As the first and second support covers 647 and 648 successively transfer the fruits into the material bin 98, the rotating motor 95 drives the rotating shaft 96 to rotate, which in turn drives the refrigerated box 97 to rotate, and the refrigerated box 97 drives the material bin 98 to rotate, switching the positions of the first and second support covers 647 and 648 in the annular groove 912, so that the fruits are evenly spread in the material bin 98, avoiding local accumulation and damage to the fruits.

[0044] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalent features for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An intelligent orchard picking device, comprising a picking vehicle (1), a data processing system (10) installed inside the picking vehicle (1), wheels (12) installed at the bottom of the picking vehicle (1), and a travel drive system (11) connected to the wheels (12), characterized in that: The picking vehicle (1) has a groove (2) on its upper surface, a transverse driving cylinder (3) is installed inside the groove (2), a longitudinal driving cylinder (4) is vertically installed on the upper surface of the moving part of the transverse driving cylinder (3), a telescopic cylinder (5) is installed on the upper surface of the moving part of the longitudinal driving cylinder (4), a fixed column (6) is connected to the top telescopic end of the telescopic cylinder (5), an image acquisition camera (7) is installed on the upper surface of the fixed column (6), a shearing assembly (8) is installed on the fixed column (6) below the image acquisition camera (7), and a gathering assembly (9) is installed on the rear side of the telescopic cylinder (5); The middle part of the fixed column (6) is transversely cut off and integrally connected to a fixed shaft (61), the outer side of the fixed shaft (61) is provided with a rectangular sleeve (62), the four side walls of the rectangular sleeve (62) are all installed with lifting cylinders (63), and the moving parts of the four lifting cylinders (63) are all installed with a material transfer assembly (64), the outer side of the rectangular sleeve (62) below the lifting cylinder (63) is provided with a gear ring (65), one side of the gear ring (65) is meshed with a gear (66), and the bottom of the gear (66) is connected to a drive motor (67); The material transfer assembly (64) includes a mounting base (641) mounted on a movable part of a lifting cylinder (63), a movable groove (642) is provided inside the mounting base (641), two movable blocks (643) arranged vertically and intersecting with each other are provided inside the movable groove (642), a pin shaft (644) is provided between the two movable blocks (643), a shifting block (645) is provided on one side of the two movable blocks (643), and the two shifting blocks (645) are connected to a double-headed air cylinder. Cylinder (646), the other side of the two movable blocks (643) extends from the side wall of the mounting seat (641) and is respectively connected to a first support cover (647) and a second support cover (648), the inner walls of the first support cover (647) and the second support cover (648) are both paved with a sponge pad (649), a slot (6410) is provided on a side of the first support cover (647) close to the second support cover (648), and an insert block (6411) is connected to the second support cover (648) at a position corresponding to the slot (6410); The aggregate component (9) includes a connecting ring (93) installed outside the telescopic cylinder (5). The rear side wall of the connecting ring (93) is connected to a bottom plate (91). The bottom of the bottom plate (91) is connected to balls (92) in a rolling manner. A support frame (94) is installed on the upper surface of the bottom plate (91). A rotating motor (95) is installed on the upper surface of the bottom plate (91) inside the support frame (94). The shaft end of the rotating motor (95) is connected to a rotating shaft (96). The top of the rotating shaft (96) is connected to a refrigerating box (97). A material box (98) is movably inserted into the refrigerating box (97). A drain pipe (99) is connected to the bottom of the refrigerating box (97). A box cover (910) is connected to the top of the refrigerating box (97). A hinge (911) is connected between the rear side of the refrigerating box (97) and the box cover (910). An annular groove (912) is formed through the box cover (910). Elastic sealing gaskets (913) are connected to the inner walls on both sides of the annular groove (912).

2. The orchard intelligent picking device according to claim 1, characterized in that: The rectangular sleeve (62) is in the shape of a hollow rectangular strip. The inner diameter dimension of the rectangular sleeve (62) matches the outer diameter dimension of the fixed shaft (61) and is smaller than the outer diameter dimension of the fixed column (6). The rectangular sleeve (62) is sleeved outside the fixed shaft (61) and forms a rotational connection with the fixed shaft (61).

3. The intelligent orchard picking device according to claim 1, characterized in that: The driving motor (67) is installed on the front side wall of the fixed column (6) below the fixed shaft (61). The shaft end of the driving motor (67) is connected to the center of the gear (66). A square hole is formed in the middle of the toothed ring (65). The rectangular sleeve (62) passes through the toothed ring (65) and is connected to the inner wall of the toothed ring (65).

4. The intelligent orchard picking device according to claim 1, characterized in that: The two movable blocks (643) are symmetrically arranged relative to the pin shaft (644) and form a scissor shape. The two movable blocks (643) are both rotationally connected to the mounting seat (641) through the pin shaft (644). The longitudinal section of the dialing block (645) is in the shape of a U. The movable block (643) and the dialing block (645) are movably inserted. The two dialing blocks (645) are respectively connected to the telescopic ends of the double-headed cylinder (646).

5. The intelligent orchard picking device according to claim 1, characterized in that: The first support cover (647) and the second support cover (648) are respectively rotationally connected to the mounting seat (641) through the two movable blocks (643). The first support cover (647) and the second support cover (648) are both in the shape of a quarter ellipsoid. The insertion block (6411) and the insertion slot (6410) are movably inserted. The first support cover (647) and the second support cover (648) are closed to form a semi-ellipsoid shape.

6. The intelligent orchard picking device according to claim 1, characterized in that: The shearing assembly (8) includes a fixing ring (81) mounted on the outer side wall of the fixing column (6), the front side wall of the fixing ring (81) is connected to a connecting block (82), the front side wall of the connecting block (82) is connected to a C-shaped seat (83), and shearing cylinders (85) are mounted on the left and right side walls of the C-shaped seat (83), the telescopic ends of the two shearing cylinders (85) pass through the side walls of the C-shaped seat (83) and are connected to shearing knives (84), the C-shaped seat (83) has an opening facing the front, and the C-shaped seat (83) is connected to the fixing column (6) via the connecting block (82) and the fixing ring (81), and the two shearing knives (84) move left and right inside the C-shaped seat (83).

7. The intelligent orchard picking device according to claim 1, characterized in that: The bottom of the ball bearing (92) contacts the upper surface of the picking vehicle (1), the bottom plate (91) is connected to the telescopic cylinder (5) via the connecting ring (93), the bottom of the support frame (94) is connected to the bottom plate (91), and the top of the support frame (94) contacts the bottom of the cold storage box (97). The cold storage box (97) and the material box (98) are both circular boxes with hollow interiors. The cold storage box (97) is made of insulation material. The cold storage box (97) is connected to the rotating motor (95) via the rotating shaft (96), and the gap between the inner wall of the cold storage box (97) and the material box (98) is filled with ice.

8. The intelligent orchard picking device according to claim 1, characterized in that: The box cover (910) is hinged to the refrigerator (97) via a hinge (911). The number of the elastic sealing pads (913) is two and both are annular. The two elastic sealing pads (913) are concentrically arranged and respectively installed on the inner walls of the annular groove (912). The two elastic sealing pads (913) are in contact with each other on the side away from the inner wall of the annular groove (912).

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