Multifunctional high-ground-clearance pineapple harvesting automatic equipment

Abstract

The invention relates to multifunctional high-ground-clearance pineapple harvesting automatic equipment which is characterized in that a second vertical telescopic assembly, a second moving assembly, a first vertical telescopic assembly and a first moving assembly can change the elevation of a harvesting platform and a bottom plate so as to meet the harvesting of high-ground-clearance pineapples; in addition, the first group of conveying assembly, the second group of conveying assembly and the third group of conveying assembly which are arranged side by side respectively comprise two first belt conveyors which are coaxially arranged; detection information is obtained according to the number and the positions of the laser receivers shielded by the fruit shape recognition device; the control device can analyze the detection information according to the grading mode to obtain an identification result; the first pushing device feeds the fruits which do not meet the first set condition into the second group of conveying assemblies; the fruits which do not meet the second set condition are conveyed into the third conveying assembly through the second pushing device, traditional leakage holes with different calibers are not used for screening and grading, whether the surfaces of the fruits are smooth or not is not considered, and the multifunctional requirements of harvesting and grading are met.

Description

Technical Field

[0001] The present application relates to the technical field of agricultural machinery, and in particular to a multifunctional high-ground clearance pineapple harvesting automation equipment. Background Art

[0002] High-quality pineapples are usually cylindrical or oval with slightly pointed ends, of uniform and moderate size, and have a regular shape. When harvesting pineapples, if they are screened in advance at the harvesting site, it can assist growers in quick sorting.

[0003] In some related technologies, there are several ways to screen fruits according to their size. For example, a drum screening machine uses different apertures on an inclined drum for stratified screening. The surface of the drum is provided with multiple levels of gradually increasing holes. Fruits such as oranges and tangerines roll naturally as the drum rotates. Small fruits fall first, and larger fruits continue to move forward to the corresponding aperture area for separation.

[0004] The vibrating screening machine uses a vibrating motor to drive multiple layers of screens to screen by size. The aperture of the multiple layers of screens increases from top to bottom, and the pineapples pass through each layer under the action of vibration, achieving grading from small to extra-large sizes.

[0005] However, the above is for fruits with a rounder shape and a smoother surface. For pineapples, due to the irregular outer diameter of pineapples and the large number of stems and leaves, the above equipment is difficult to apply and the screening effect is poor. In addition, how to screen out fruits with irregular shapes is also an urgent problem to be solved. Summary of the invention

[0006] The embodiment of the present application provides a multifunctional high-ground clearance pineapple harvesting automated equipment to solve the problem that when the equipment in the related art is used to screen fruits with a rounder shape and a smoother surface, the screening effect is poor due to the irregular outer diameter of the pineapple and the large number of stems and leaves.

[0007] In a first aspect, a multifunctional high-ground clearance pineapple harvesting automation equipment is provided, comprising:

[0008] A bottom plate is provided with a support frame, and a first group of conveying assemblies, a second group of conveying assemblies and a third group of conveying assemblies are arranged side by side along the width direction of the bottom plate on the top of the support frame; the first group of conveying assemblies, the second group of conveying assemblies and the third group of conveying assemblies each include two coaxially arranged first belt conveyors; a first vertical telescopic assembly is provided at the bottom of the bottom plate, and a first moving assembly with a driving wheel is provided at the bottom of the first vertical telescopic assembly;

[0009] The fruit shape recognition device is arranged between two coaxially arranged first belt conveyors, and it includes a laser emitter group and a laser receiver group arranged vertically; the space between the laser emitter group and the laser receiver group is for the fruits conveyed by the first belt conveyor to pass through;

[0010] The control device is connected to the fruit shape recognition device to receive detection information; the control device is used to analyze the detection information according to the determined grading mode to obtain an identification result;

[0011] The first pushing device is installed on the first group of conveying components; the control device controls the first pushing device to send the fruits that do not meet the first set condition into the second group of conveying components according to the identification result; the second pushing device is installed on the second group of conveying components; the control device controls the second pushing device to send the fruits that do not meet the second set condition into the third group of conveying components according to the identification result;

[0012] The harvesting platform is connected with a second vertical telescopic component at the bottom, and a second moving component with driving wheels is arranged at the bottom of the second vertical telescopic component; an installation frame for installing harvesting equipment, as well as a second belt conveyor and a third belt conveyor are arranged on the harvesting platform; the second belt conveyor is used to transport the fruits at the installation frame to the third belt conveyor; the third belt conveyor is used to transport the fruits to the first group of conveying components.

[0013] In some embodiments, baffles are arranged on the first group of conveying components, the second group of conveying components and the third group of conveying components in their conveying directions; the support frame includes a support rod and a base plate at the top of the support rod;

[0014] The laser emitter group includes a mounting plate erected on the baffles of the first group of conveying components and the second group of conveying components, and a plurality of laser emitters arranged along the width direction of the bottom plate are arranged at the bottom of the mounting plate;

[0015] The laser receiver group includes a plurality of laser receivers arranged along the width direction of the bottom plate; the laser receivers are connected to the base plate.

[0016] In some embodiments, the control device includes a grading mode selection module, a fruit maximum outer diameter recognition module and a fruit deformity recognition module;

[0017] The grading mode selection module is used to select one from the fruit maximum outer diameter recognition module and the fruit deformity recognition module and connect them;

[0018] The fruit shape recognition device is used to obtain the receiving condition of the laser receiver at each moment, and then output multiple line segments corresponding to the fruits according to the receiving condition;

[0019] The control device controls the fruit maximum outer diameter recognition module to calculate the maximum outer diameter of the fruit based on multiple line segments of the corresponding fruit output by the fruit shape recognition device;

[0020] The control device controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit based on multiple line segments of the corresponding fruit output by the fruit shape recognition device.

[0021] In some embodiments, the fruit shape recognition device is used to obtain the reception situation of the laser receiver at each moment, and then output multiple line segments of the corresponding fruit according to the reception situation, including the following steps:

[0022] Analyze the signal reception situation of all laser receivers at each moment to obtain line segments; the analysis steps include: if all laser receivers receive signals, output line segments of a standard length; otherwise, obtain the number and positions of the laser receivers that do not receive signals, and then generate line segments representing the outer diameter of the fruit according to the number and positions;

[0023] Arrange the output line segments in chronological order, and take the multiple line segments between two standard lengths and representing the outer diameter of the fruit as the multiple line segments corresponding to one fruit.

[0024] In some embodiments, the control device controls the fruit maximum outer diameter recognition module to calculate the maximum outer diameter of the fruit based on multiple line segments of the corresponding fruit output by the fruit shape recognition device, including the following steps:

[0025] Obtain multiple line segments of the corresponding fruit output by the fruit shape recognition device, identify the longest line segment among the multiple line segments representing the outer diameter of the fruit, and then take the length of this longest line segment as the maximum outer diameter of the corresponding fruit.

[0026] In some embodiments, the control device controls the first pushing device to compare the first set condition with the maximum outer diameter of the fruit;

[0027] If it is less than the first set condition, send the fruit that has just been conveyed from the previous belt of the first group of conveying components to the next first belt conveyor of the first group of conveying components into the second group of conveying components;

[0028] If it is greater than the first set condition, the first pushing device does not perform selection.

[0029] In some embodiments, the control device controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit based on multiple line segments of the corresponding fruit output by the fruit shape recognition device, including the following steps:

[0030] Obtain multiple line segments of the corresponding fruit output by the fruit shape recognition device;

[0031] Mark the two ends of each line segment to obtain marked points; then connect the marked points in chronological order and smooth them to obtain the outer contour trajectory of the fruit.

[0032] In some embodiments, the control device controls the first pushing device to determine whether the outer contour trajectory of the fruit meets the design degree of the target shape; the target shape is cylindrical or elliptical;

[0033] If not, send the fruit that has just been conveyed from the previous belt of the first group of conveying components to the next first belt conveyor of the first group of conveying components into the second group of conveying components;

[0034] If so, the first pushing device does not perform selection.

[0035] In some embodiments, the first pushing device includes a telescopic member whose telescopic direction is parallel to the width direction of the bottom plate and a pushing block; the telescopic member is fixed on the substrate;

[0036] On the baffle plates of the first group of conveying components and the second group of conveying components, there is a first passage for fruits and pushing blocks that do not meet the first set condition to pass through.

[0037] In some embodiments, the second pushing device is installed on the baffle plate of the second group of conveying components, and has the same structure as the first pushing device;

[0038] On the baffle plates of the second group of conveying components and the third group of conveying components, there is a second passage for fruits and pushing blocks that do not meet the second set condition to pass through. The second passage and the first passage are respectively located at both ends of the second group of conveying components in the length direction.

[0039] The beneficial effects brought by the technical solution provided by this application include:

[0040] The embodiment of the present application provides a multi-functional high-clearance pineapple harvesting automation equipment. The second vertical telescopic component, the second moving component, the first vertical telescopic component, and the first moving component can change the elevation of the harvesting platform and the bottom plate to meet the harvesting of high-clearance pineapples, and can be adjusted according to the height of different pineapple fruits to avoid interference with fruit trees. In addition, after harvesting and entering the first group of conveying components, grading operations can be carried out, thus realizing the multi-functional requirements of harvesting and grading. Among them, the first group of conveying components, the second group of conveying components, and the third group of conveying components arranged side by side all include two coaxial first belt conveyors. The fruit shape recognition device can be arranged between the two coaxial first belt conveyors. In this way, during the fruit conveying process, it can pass through the space between the laser emitter group and the laser receiver group. Then, the diameter of the corresponding part of the fruit passing through the fruit shape recognition device at each moment can be obtained by using the number and position of the blocked laser receivers, and the detection information can be obtained. The control device can analyze the detection information according to the grading mode to obtain the recognition result. The first pushing device sends the fruits that do not meet the first set condition into the second group of conveying components according to the recognition result. The second pushing device sends the fruits that do not meet the second set condition into the third group of conveying components according to the recognition result, thus realizing the screening of grading. The above relies on the cooperation of the information received by the laser of the fruit shape recognition device and the pushing device for screening, does not rely on traditional leak holes of different diameters for screening, and does not need to consider whether the fruit surface is smooth. In addition, various grading requirements for the shape size and whether the shape is deformed can be realized. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0042] Figure 1 It is a schematic structural diagram of the multi-functional high-clearance pineapple harvesting automation equipment from the first perspective provided by the embodiment of the present application;

[0043] Figure 2 It is a schematic structural diagram of the multi-functional high-clearance pineapple harvesting automation equipment from the second perspective provided by the embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of the multi-functional high-clearance pineapple harvesting automation equipment provided by the embodiment of the present application for sorting pineapples;

[0045] Figure 4 It is a schematic diagram of the pineapple flow direction when the multi-functional high-clearance pineapple harvesting automation equipment provided by the embodiment of the present application sorts pineapples;

[0046] Figure 5 Provided for the embodiments of this application Figure 3 The main view;

[0047] Figure 6 A schematic diagram of laser irradiation recognition provided in an embodiment of the present application;

[0048] Figure 7 A schematic diagram of the laser irradiation for identifying the maximum diameter of a fruit provided in an embodiment of the present application;

[0049] Figure 8 A schematic diagram of the laser irradiation and fruit contour trajectory recognition provided in the embodiment of the present application;

[0050] Figure 9 A framework diagram of a control device provided in an embodiment of the present application.

[0051] In the figure: 1, bottom plate; 2, support frame; 3, first group of conveying components; 4, second group of conveying components; 5, third group of conveying components; 6, fruit shape recognition device; 600, laser transmitter group; 601, laser receiver group; 7, control device; 8, first pushing device; 9, second pushing device; 10, enclosure plate; 11, harvesting platform; 12, second vertical telescopic component; 13, second moving component; 14, first vertical telescopic component; 15, first moving component; 16, mounting frame; 17, second belt conveyor; 18, third belt conveyor. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0053] The embodiment of the present application provides a multifunctional high-ground clearance pineapple harvesting automated equipment to solve the problem that when the equipment in the related art is used to screen fruits with a rounder shape and a smoother surface, the screening effect is poor due to the irregular outer diameter of the pineapple and the large number of stems and leaves.

[0054] Please refer to Figures 1 - 9 , a multifunctional high-ground clearance pineapple harvesting automation equipment, comprising:

[0055] The bottom plate 1 is provided with a support frame 2, and at the top of the support frame 2, there are a first group of conveying components 3, a second group of conveying components 4, and a third group of conveying components 5 arranged side by side in the width direction of the bottom plate 1; each of the first group of conveying components 3, the second group of conveying components 4, and the third group of conveying components 5 includes two coaxial first belt conveyors; at the bottom of the bottom plate 1, there is a first vertical telescopic component 14, and at the bottom of the first vertical telescopic component 14, there is a first moving component 15 with a driving wheel. The first vertical telescopic component 14 includes a plurality of vertical hydraulic cylinders, and the first moving component 15 includes a base block. At the bottom of the base block, there is a driving wheel, and the driving wheel is connected to a driving motor. Thus, the elevation of the bottom plate 1 can be changed through the first vertical telescopic component 14 to be suitable for use and movement in a high-clearance picking site.

[0056] The fruit shape recognition device 6 is arranged between two coaxial first belt conveyors, and it includes a laser emitter group 600 and a laser receiver group 601 arranged vertically; the space between the laser emitter group 600 and the laser receiver group 601 allows the fruits conveyed by the first belt conveyor to pass through;

[0057] The control device 7 is connected to the fruit shape recognition device 6 to receive detection information; the control device 7 is used to analyze the detection information according to the determined grading mode to obtain an identification result;

[0058] The first pushing device 8 is installed on the first group of conveying components 3; the control device 7 controls the first pushing device 8 to send the fruits that do not meet the first set condition into the second group of conveying components 4 according to the identification result;

[0059] The second pushing device 9 is installed on the second group of conveying components 4; the control device 7 controls the second pushing device 9 to send the fruits that do not meet the second set condition into the third group of conveying components 5 according to the identification result;

[0060] The harvesting platform 11 is connected to a second vertical telescopic component 12 at the bottom, and at the bottom of the second vertical telescopic component 12, there is a second moving component 13 with a driving wheel; on the harvesting platform 11, there is an installation rack 16 for installing harvesting equipment, as well as a second belt conveyor 17 and a third belt conveyor 18; the second belt conveyor 17 is used to transport the fruits at the installation rack 16 to the third belt conveyor 18; the third belt conveyor 18 is used to transport the fruits to the first group of conveying components 3; the harvesting equipment is an existing equipment, such as the equipment shown in the patent with the application number CN202211554338.2.

[0061] With the above settings, the second vertical telescopic component 12, the second moving component 13, the first vertical telescopic component 14, and the first moving component 15 can change the elevations of the harvesting platform 11 and the bottom plate to meet the harvesting of high-clearance pineapples, and can be adjusted according to the heights of different pineapple fruits to avoid interference with fruit trees. Additionally, after harvesting and entering the first group of conveying components 3, grading operations can be performed, thus meeting the multi-functional requirements of harvesting and grading.

[0062] The specific flow direction of pineapples during grading with the above settings can be referred to Figure 4 the direction shown. The pineapples to be graded are fed into the first group of conveying components 3 from the entrance, pass through the first belt conveyor of the first group of conveying components 3, and are identified in the space between the laser emitter group 600 and the laser receiver group 601, and then enter the second belt conveyor of the first group of conveying components 3. Then, the first pushing device 8 sends the fruits that do not meet the first set condition into the second group of conveying components 4 according to the identification result.

[0063] They enter the first belt conveyor of the second group of conveying components 4 and then continue to be conveyed to the second belt conveyor of the second group of conveying components 4. After the fruit shape recognition device 6 between the two belt conveyors of the second group of conveying components 4 performs identification again, the second pushing device 9 sends the fruits that do not meet the second set condition into the third group of conveying components 5 according to the identification result, thus realizing the screening of grading. The above mainly relies on the cooperation of the information received by the laser of the fruit shape recognition device 6 and the pushing device for screening, without relying on traditional leakage holes of different diameters, avoiding the problems of blockage of the leakage holes by non-smooth fruits or low screening efficiency; a new screening method is proposed to ensure the accuracy of screening.

[0064] Specifically, the principle can be referred to Figure 6 the description in, for example, Figure 6 wherein, the diameters corresponding to the fruits are formed by connecting multiple blocked laser receivers. As long as the number of laser receivers is reasonably set, the accurate recognition accuracy can be ensured.

[0065] In addition, the requirements for various grading functions such as the shape size and whether the shape is deformed can be realized, which will be described later.

[0066] In some preferred embodiments, the first group of conveying components 3, the second group of conveying components 4, and the third group of conveying components 5 are all provided with baffles 10 in their conveying directions; the support frame 2 includes a support rod and a base plate at the top of the support rod.

[0067] The laser emitter group 600 includes a mounting plate erected on the baffles 10 of the first group of conveying components 3 and the second group of conveying components 4, and a plurality of laser emitters are provided at the bottom of the mounting plate along the width direction of the bottom plate 1.

[0068] The laser receiver group 601 includes a plurality of laser receivers arranged along the width direction of the base plate 1; the laser receivers are connected to the substrate.

[0069] In some preferred embodiments, referring to Figure 9 , the control device 7 includes a grading mode selection module, a fruit maximum outer diameter recognition module, and a fruit deformity recognition module;

[0070] The grading mode selection module is used to select one of the fruit maximum outer diameter recognition module and the fruit deformity recognition module and connect them;

[0071] The fruit shape recognition device 6 is used to obtain the reception conditions of the laser receivers at each moment, and then output a plurality of line segments corresponding to the fruit according to the reception conditions;

[0072] The control device 7 controls the fruit maximum outer diameter recognition module to calculate the maximum outer diameter of the fruit according to the plurality of line segments corresponding to the fruit output by the fruit shape recognition device 6;

[0073] The control device 7 controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit according to the plurality of line segments corresponding to the fruit output by the fruit shape recognition device 6.

[0074] Among them, referring to Figure 7 , the fruit shape recognition device 6 is used to obtain the reception conditions of the laser receivers at each moment, and then output a plurality of line segments corresponding to the fruit according to the reception conditions, including the following steps:

[0075] Analyze the signal reception conditions of all laser receivers at each moment to obtain line segments; the analysis steps include: if all laser receivers receive signals, output line segments of a standard length; otherwise, obtain the number and positions of the laser receivers that do not receive signals, and then generate line segments representing the outer diameter of the fruit according to the number and positions;

[0076] Arrange the output line segments in chronological order, and regard the multiple line segments between two standard lengths and representing the outer diameter of the fruit as the multiple line segments corresponding to one fruit.

[0077] Furthermore, explain the recognition of the maximum outer diameter of the fruit:

[0078] The control device 7 controls the fruit maximum outer diameter recognition module to calculate the maximum outer diameter of the fruit according to the plurality of line segments corresponding to the fruit output by the fruit shape recognition device 6, including the following steps:

[0079] Obtain the plurality of line segments corresponding to the fruit output by the fruit shape recognition device 6, identify the longest line segment among the multiple line segments representing the outer diameter of the fruit, and then use the length of this longest line segment as the maximum outer diameter of the corresponding fruit.

[0080] The control device 7 controls the first pushing device 8 to compare the first set condition with the maximum outer diameter of the fruit;

[0081] If it is smaller than the first set condition, the fruit that has just been conveyed from the previous belt of the first group of conveying components 3 to the next first belt conveyor of the first group of conveying components 3 is sent to the second group of conveying components 4;

[0082] If it is larger than the first set condition, the first pushing device 8 does not perform sorting.

[0083] Furthermore, explain the outer contour trajectory of the fruit:

[0084] Reference Figure 8 , the control device 7 controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit according to multiple line segments output by the fruit shape recognition device 6, including the following steps:

[0085] Obtain multiple line segments of the corresponding fruit output by the fruit shape recognition device 6;

[0086] Mark both ends of each line segment to obtain marked points; then connect the marked points in chronological order and smooth them to obtain the outer contour trajectory of the fruit.

[0087] The control device 7 controls the first pushing device 8 to determine whether the outer contour trajectory of the fruit meets the design degree of the target shape; the target shape is cylindrical or elliptical; the design degree of the target shape can be understood as only a part is cylindrical or elliptical, and the other part is not, for example, there is a concave part on the cylinder.

[0088] If not, the fruit that has just been conveyed from the previous belt of the first group of conveying components 3 to the next first belt conveyor of the first group of conveying components 3 is sent to the second group of conveying components 4;

[0089] If so, the first pushing device 8 does not perform sorting.

[0090] In this embodiment, the specific processes of the first group of conveying components 3 and the first pushing device 8 for the two grading modes are described. The specific processes of the second group of conveying components 4 and the second pushing device 9 are the same, except that the grading degree is different. The second group of conveying components 4 and the second pushing device 9 screen out fruits with a smaller diameter; the second group of conveying components 4 and the second pushing device 9 screen out more deformed fruits.

[0091] In some preferred embodiments, the first pushing device 8 includes a telescopic member and a pushing block whose telescopic direction is parallel to the width direction of the bottom plate 1; the telescopic member is fixed on the substrate;

[0092] On the baffle 10 of the first set of conveying components 3 and the second set of conveying components 4, there is a first channel for fruits and push blocks that do not meet the first set condition to pass through.

[0093] The second pushing device 9 is installed on the baffle 10 of the second set of conveying components 4, and its structure is the same as that of the first pushing device 8;

[0094] On the baffle 10 of the second set of conveying components 4 and the third set of conveying components 5, there is a second channel for fruits and push blocks that do not meet the second set condition to pass through. The second channel and the first channel are respectively located at both ends in the length direction of the second set of conveying components 4.

[0095] The above limitations on the arrangement positions of the second pushing device 9 and the first pushing device 8 can be referred to Figure 4 and Figure 3 .

[0096] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0097] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0098] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A multifunctional high-ground clearance pineapple harvesting automation equipment, characterized in that: It includes: A bottom plate (1) is provided with a support frame (2) on it; a first group of conveying assemblies (3), a second group of conveying assemblies (4) and a third group of conveying assemblies (5) are arranged side by side along the width direction of the bottom plate (1) on the top of the support frame (2); the first group of conveying assemblies (3), the second group of conveying assemblies (4) and the third group of conveying assemblies (5) each include two coaxially arranged first belt conveyors; a first vertical telescopic assembly (14) is provided at the bottom of the bottom plate (1); a first moving assembly (15) having a driving wheel is provided at the bottom of the first vertical telescopic assembly (14); A fruit shape recognition device (6) is arranged between two coaxially arranged first belt conveyors, and comprises a laser transmitter group (600) and a laser receiver group (601) arranged vertically; the space between the laser transmitter group (600) and the laser receiver group (601) is for the fruit conveyed by the first belt conveyor to pass through; A control device (7) connected to the fruit appearance recognition device (6) to receive detection information; the control device (7) is used to analyze the detection information according to the determined classification mode to obtain a recognition result; A first pushing device (8) is mounted on the first group of conveying components (3); the control device (7) controls the first pushing device (8) to send the fruit that does not meet the first set condition to the second group of conveying components (4) according to the recognition result; a second pushing device (9) is mounted on the second group of conveying components (4); the control device (7) controls the second pushing device (9) to send the fruit that does not meet the second set condition to the third group of conveying components (5) according to the recognition result; A harvesting platform (11) is connected to a second vertical telescopic assembly (12) at its bottom, and a second moving assembly (13) having a driving wheel is provided at the bottom of the second vertical telescopic assembly (12); a mounting frame (16) for mounting harvesting equipment, as well as a second belt conveyor (17) and a third belt conveyor (18) are provided on the harvesting platform (11); the second belt conveyor (17) is used to transport fruits at the mounting frame (16) to the third belt conveyor (18); and the third belt conveyor (18) is used to transport fruits to the first group of conveying assemblies (3).

2. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 1, characterized in that: The first group of conveying components (3), the second group of conveying components (4) and the third group of conveying components (5) are all provided with a baffle plate (10) in their conveying direction; the support frame (2) comprises a support rod and a base plate on the top of the support rod; The laser emitter group (600) comprises a mounting plate mounted on the enclosure plates (10) of the first group of conveying components (3) and the second group of conveying components (4), wherein a plurality of laser emitters are arranged along the width direction of the bottom plate (1) at the bottom of the mounting plate; The laser receiver group (601) comprises a plurality of laser receivers arranged along the width direction of the base plate (1); the laser receivers are connected to the base plate.

3. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 2, characterized in that: The control device (7) comprises a classification mode selection module, a fruit maximum outer diameter recognition module and a fruit deformity recognition module; The classification mode selection module is used to select one of the fruit maximum outer diameter recognition module and the fruit deformity recognition module, and connect them; The fruit shape recognition device (6) is used to obtain the reception status of the laser receiver at each moment, and then output a plurality of line segments corresponding to the fruit according to the reception status; The control device (7) controls the maximum outer diameter recognition module of the fruit to calculate the maximum outer diameter of the fruit according to the multiple line segments corresponding to the fruit output by the fruit shape recognition device (6); The control device (7) controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit according to the multiple line segments of the corresponding fruit output by the fruit shape recognition device (6).

4. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 3, characterized in that: The fruit shape recognition device (6) is used to obtain the reception status of the laser receiver at each moment, and then output a plurality of line segments corresponding to the fruit according to the reception status, and comprises the following steps: The signal reception status of all laser receivers at each moment is analyzed to obtain line segments; the analysis steps include: if all laser receivers receive signals, then outputting line segments of standard length; otherwise, obtaining the number and positions of laser receivers that do not receive signals, and then generating line segments representing the outer diameter of the fruit according to the number and positions; Arrange the output line segments in chronological order, and take multiple line segments between two standard lengths and representing the outer diameter of the fruit as multiple line segments corresponding to one fruit.

5. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 4, characterized in that: The control device (7) controls the maximum outer diameter recognition module of the fruit to calculate the maximum outer diameter of the fruit according to the multiple line segments corresponding to the fruit output by the fruit shape recognition device (6), comprising the following steps: A plurality of line segments corresponding to the fruit output by the fruit shape recognition device (6) are obtained, the longest line segment among the plurality of line segments representing the outer diameter of the fruit is identified, and then the length of the longest line segment is used as the maximum outer diameter of the corresponding fruit.

6. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 5, characterized in that: The control device (7) controls the first pushing device (8) to compare the first set condition with the maximum outer diameter of the fruit; If it is less than the first set condition, the fruit just conveyed from the previous belt conveyor of the first conveying assembly (3) to the next first belt conveyor of the first conveying assembly (3) is conveyed to the second conveying assembly (4); If it is greater than the first set condition, the first pushing device (8) will not perform selection.

7. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 4, characterized in that: The control device (7) controls the fruit deformity recognition module to calculate the outer contour trajectory of the corresponding fruit according to the multiple line segments of the corresponding fruit output by the fruit shape recognition device (6), comprising the following steps: Acquire a plurality of line segments corresponding to the fruit output by the fruit shape recognition device (6); The two ends of each line segment are marked to obtain marking points; then the marking points are connected in chronological order and smoothed to obtain the outer contour trajectory of the fruit.

8. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 7, characterized in that: The control device (7) controls the first pushing device (8) to determine whether the outer contour trajectory of the fruit meets the design degree of the target shape; the target shape is cylindrical or elliptical; If not, the fruit just conveyed from the previous belt conveyor of the first conveyor assembly (3) to the next first belt conveyor of the first conveyor assembly (3) is conveyed to the second conveyor assembly (4); If so, the first pushing device (8) does not perform selection.

9. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 2, characterized in that: The first pushing device (8) comprises a telescopic member and a pushing block, the telescopic direction of which is parallel to the width direction of the base plate (1); the telescopic member is fixed on the base plate; The baffle plates (10) of the first group of conveying components (3) and the second group of conveying components (4) are provided with a first passage for fruits and push blocks that do not meet the first set conditions to pass through.

10. The multifunctional high-ground clearance pineapple harvesting automation equipment according to claim 9, characterized in that: The second pushing device (9) is installed on the baffle plate (10) of the second group of conveying components (4), and has the same structure as the first pushing device (8); The baffle plates (10) of the second group of conveying components (4) and the third group of conveying components (5) are provided with a second channel for fruits and push blocks that do not meet the second set condition to pass through, and the second channel and the first channel are respectively located at two ends of the second group of conveying components (4) in the length direction.

Images