Multifunctional high ground clearance pineapple harvesting automation equipment

Abstract

The application relates to a multifunctional high-clearance pineapple harvesting automation equipment, 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 to meet the harvesting of high-clearance pineapples; in addition, a first group of conveying assemblies, a second group of conveying assemblies and a third group of conveying assemblies which are arranged side by side each comprise two coaxially arranged first belt conveyors; the number and positions of laser receivers which are shielded by a fruit shape recognition device are used to obtain detection information; a control device can analyze the detection information according to a grading mode to obtain an identification result; a first pushing device sends fruits which do not meet first set conditions into the second group of conveying assemblies; and a second pushing device sends fruits which do not meet second set conditions into the third group of conveying assemblies, the above does not rely on traditional different-diameter sieve holes for screening and grading, does not consider whether the outer surface of the fruits is smooth, and realizes the multifunctional requirements of harvesting and grading.

Description

TECHNICAL FIELD

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

[0002] High-quality pineapples are usually cylindrical or slightly pointed oval, with uniform and moderate size, and regular shape. When pineapples are harvested, if the selection is performed in advance at the harvesting site, it can assist the growers to quickly sort.

[0003] In some related technologies, there are several ways to screen the size of fruits, for example, a drum screening machine, which screens by different hole diameters on an inclined drum; the drum surface is provided with multiple holes with gradually increasing sizes, and fruits such as oranges roll naturally with the drum, small-size fruits fall first, and larger fruits continue to advance to the corresponding hole diameter area for separation.

[0004] A vibrating screening machine uses a vibrating motor to drive multiple layers of screens for size-based layering screening; the multiple layers of screens increase in hole diameter from top to bottom, and pineapples pass through each layer under the action of vibration to achieve classification from small to oversized.

[0005] However, the above is for fruits with a relatively round shape and a smooth surface, and for pineapples, since the outer diameter of pineapples is irregular and has many stem and leaf parts, the above equipment is difficult to apply and the screening effect is poor; in addition, how to screen irregularly shaped fruits is also a problem that needs to be solved urgently. SUMMARY

[0006] The embodiment of the application provides a multifunctional high-clearance pineapple harvesting automation equipment to solve the problem that the equipment for screening fruits with a relatively round shape and a smooth surface has poor screening effect when screening pineapples due to the irregular outer diameter of pineapples and the presence of many stem and leaf parts.

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

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

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

[0010] A control device is connected with the fruit shape recognition device to receive detection information; the control device is used for analyzing the detection information according to a determined grading mode to obtain a recognition result;

[0011] A first pushing device is installed on the first group of conveying assemblies; the control device controls the first pushing device to send the fruits not meeting the first set condition into the second group of conveying assemblies according to the recognition result; a second pushing device is installed on the second group of conveying assemblies; the control device controls the second pushing device to send the fruits not meeting the second set condition into the third group of conveying assemblies;

[0012] The harvesting platform is connected with a second vertical telescopic assembly at the bottom, and the second vertical telescopic assembly is provided with a second moving assembly with a driving wheel at the bottom; the harvesting platform is provided with a mounting rack for mounting a harvesting device, and a second belt conveyor and a third belt conveyor; the second belt conveyor is used for conveying the fruits at the mounting rack to the third belt conveyor; and the third belt conveyor is used for conveying the fruits to the first group of conveying assemblies.

[0013] In some embodiments, the first group of conveying assemblies, the second group of conveying assemblies and the third group of conveying assemblies are each provided with a surrounding baffle in the conveying direction thereof; and the support frame comprises a support rod and a base plate at the top of the support rod.

[0014] The laser emitter group comprises a mounting plate arranged on the surrounding baffles of the first group of conveying assemblies and the second group of conveying assemblies, and the mounting plate is provided with a plurality of laser emitters arranged along the width direction of the bottom plate at the bottom thereof;

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

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

[0017] The grading mode selection module is used for selecting one of the fruit maximum outer diameter identification module and the fruit deformity identification module and connecting them;

[0018] The fruit shape recognition device is used for obtaining the receiving condition of the laser receivers at each moment, and then outputting a plurality of line segments of the corresponding fruits according to the receiving condition;

[0019] The control device controls the fruit maximum outer diameter identification module to calculate the maximum outer diameter of the fruit according to the multiple line segments of the corresponding fruit output by the fruit shape identification device.

[0020] The control device controls the fruit abnormal shape identification module to calculate the outer contour track of the corresponding fruit according to the multiple line segments of the corresponding fruit output by the fruit shape identification device.

[0021] In some embodiments, the fruit shape identification device is configured to acquire the receiving condition of the laser receiver at each time point, and then output the multiple line segments of the corresponding fruit according to the receiving condition, including the following steps:

[0022] The receiving condition of all laser receivers at each time point is analyzed to obtain the line segment; the analysis step includes: if all the laser receivers receive signals, a line segment with a standard length is output; otherwise, the number and position of the laser receivers that do not receive signals are acquired, and then a line segment representing the outer diameter of the fruit is generated according to the number and position;

[0023] The output line segments are arranged in chronological order, and the multiple line segments representing the outer diameter of the fruit between two standard lengths are taken as the multiple line segments corresponding to the fruit.

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

[0025] The multiple line segments of the corresponding fruit output by the fruit shape identification device are acquired, the longest line segment among the multiple line segments representing the outer diameter of the fruit is identified, and then the length of the longest line segment is taken 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, the fruit on the first belt conveyor just transported from the front one of the first group of conveying assemblies to the rear one of the first group of conveying assemblies is sent to the second group of conveying assemblies;

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

[0029] In some embodiments, the control device controls the fruit abnormal shape identification module to calculate the outer contour track of the corresponding fruit according to the multiple line segments of the corresponding fruit output by the fruit shape identification device, including the following steps:

[0030] The multiple line segments of the corresponding fruit output by the fruit shape identification device are acquired;

[0031] Mark the two ends of each line segment to obtain marking points; then connect the marking points in time sequence and perform smoothing processing to obtain the fruit outer contour trajectory.

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

[0033] If not, the fruit just transported from the previous belt conveyor of the first group of conveying assemblies to the next first belt conveyor of the first group of conveying assemblies is transported to the second group of conveying assemblies.

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

[0035] In some embodiments, the first pushing device comprises a telescopic member parallel to the width direction of the base plate and a pushing block; the telescopic member is fixed on the base plate.

[0036] The enclosing plate of the first group of conveying assemblies and the second group of conveying assemblies is provided with a first channel for the fruit not meeting the first set condition and the pushing block to pass through.

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

[0038] The enclosing plate of the second group of conveying assemblies and the third group of conveying assemblies is provided with a second channel for the fruit not meeting the second set condition and the pushing block to pass through, and the second channel and the first channel are respectively located at two ends of the length direction of the second group of conveying assemblies.

[0039] The technical scheme provided in the application has the following beneficial effects:

[0040] The embodiment of the application provides a multifunctional high-clearance pineapple harvesting automation equipment, the second vertical telescopic assembly, the second moving assembly, the first vertical telescopic assembly and the first moving assembly can change the elevation of a harvesting platform and a bottom plate, so that the high-clearance pineapple can be harvested, and the height of different pineapple fruits can be adjusted to avoid interference with a fruit tree; in addition, after being harvested, the pineapple can be subjected to grading operation in the first group of conveying assemblies, so that multifunctional requirements of harvesting and grading are realized; wherein the first group of conveying assemblies, the second group of conveying assemblies and the third group of conveying assemblies which are arranged side by side each include two coaxially arranged first belt conveyors, and the fruit shape identification device can be arranged between the two coaxially arranged first belt conveyors; in this way, the fruits can pass through the space between the laser transmitter group and the laser receiver group in the fruit conveying process; then the number and position of the blocked laser receivers are used to obtain the diameter of the corresponding part of the fruits passing through the fruit shape identification device at each moment, so that detection information is obtained; the control device can analyze the detection information according to the grading mode to obtain an identification result; the first pushing device sends the fruits not meeting the first set condition into the second group of conveying assemblies according to the identification result; and the second pushing device sends the fruits not meeting the second set condition into the third group of conveying assemblies according to the identification result, so that grading screening is realized; the above screening is performed by relying on the laser receiving information of the fruit shape identification device and the cooperation of the pushing device, and does not rely on the traditional screening by different aperture holes, and does not need to consider whether the fruit surface is smooth; in addition, various grading requirements of the shape size and whether the shape is deformed can be realized. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0042] Figure 1 The structural schematic diagram of the multifunctional high-clearance pineapple harvesting automation equipment provided by the embodiment of the application is provided from the first perspective.

[0043] Figure 2 The structural schematic diagram of the multifunctional high-clearance pineapple harvesting automation equipment provided by the embodiment of the application is provided from the second perspective.

[0044] Figure 3 The schematic diagram of the multifunctional high-clearance pineapple harvesting automation equipment provided by the embodiment of the application is provided for sorting pineapples.

[0045] Figure 4 The pineapple flow schematic diagram when the multifunctional high-clearance pineapple harvesting automation equipment provided by the embodiment of the application sorts pineapples.

[0046] Figure 5 A front view of the embodiment provided by the present application is shown in Figure 3 A front view of the embodiment provided by the present application is shown in

[0047] Figure 6 A schematic diagram of the laser irradiation identification provided by the embodiment of the present application is shown in

[0048] Figure 7 A schematic diagram of the laser irradiation identification provided by the embodiment of the present application is shown in

[0049] Figure 8 A schematic diagram of the laser irradiation identification provided by the embodiment of the present application is shown in

[0050] Figure 9 A schematic diagram of the laser irradiation identification provided by the embodiment of the present application is shown in

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

[0052] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0053] The embodiments of the present application provide a multifunctional high-clearance pineapple harvesting automation equipment to solve the problem of poor screening effect of the device for screening pineapple in the related art, because the pineapple diameter is irregular and has many stem and leaf parts.

[0054] Please refer to Figures 1-9 A multifunctional high-clearance pineapple harvesting automation equipment comprises:

[0055] A base plate 1 is provided with a support frame 2, and the top of the support frame 2 is provided with 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 along the width direction of the base plate 1; the first group of conveying components 3, the second group of conveying components 4 and the third group of conveying components 5 each include two coaxially arranged first belt conveyors; a first vertical telescopic component 14 is provided at the bottom of the base plate 1, and a first moving component 15 with a driving wheel is provided at the bottom of the first vertical telescopic component 14, and the first vertical telescopic component 14 includes a plurality of vertical hydraulic cylinders, and the first moving component 15 includes a base block, and a driving wheel is provided at the bottom of the base block, and the driving wheel is connected to a driving motor, so that the elevation of the base plate 1 can be changed by the first vertical telescopic component 14 to be suitable for use and movement in picking sites with high ground clearance.

[0056] The fruit shape recognition device 6 is arranged between two coaxially arranged first belt conveyors and includes 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 used for the fruit conveyed by the first belt conveyor to pass through.

[0057] A control device 7 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 classification 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 conditions to the second group of conveying components 4 according to the recognition results;

[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 conditions to the third group of conveying components 5 according to the recognition results;

[0060] The harvesting platform 11 has a second vertical telescopic assembly 12 connected to its bottom, and a second movable assembly 13 with a drive wheel is provided at the bottom of the second vertical telescopic assembly 12; the harvesting platform 11 is provided with a mounting frame 16 for mounting the 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 fruit at the mounting frame 16 to the third belt conveyor 18; the third belt conveyor 18 is used to transport the fruit to the first group of conveying assemblies 3; the harvesting equipment is an existing equipment, such as the equipment shown in the patent application number CN202211554338.2.

[0061] Through the above setting, the second vertical telescopic assembly 12, the second moving assembly 13, the first vertical telescopic assembly 14 and the first moving assembly 15 can change the elevation of the harvesting platform 11 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 the fruit trees; in addition, after entering the first group of conveying assemblies 3 after harvesting, the hierarchical operation can be carried out, so as to realize the multifunctional demand of harvesting and grading.

[0062] The flow direction of the specific pineapple in the grading process can refer to the direction shown in Figure 4 The pineapple fruits to be graded are sent into the space between the first group of conveying assemblies 3 and the laser emitter group 600 and the laser receiver group 601 through the first group of conveying assemblies 3, and then enter the second group of conveying assemblies 4.

[0063] The first group of conveying assemblies 4 and the second group of conveying assemblies 4 continue to convey to the second group of conveying assemblies 4; wherein the fruit shape recognition device 6 between the two first group of conveying assemblies 4 of the second group of conveying assemblies 4 is identified again, and the second pushing device 9 sends the fruits not meeting the second set condition into the third group of conveying assemblies 5 according to the identification result, so as to realize the screening of grading; the above mainly relies on the cooperation of the laser receiving information of the fruit shape recognition device 6 and the pushing device to screen, and does not rely on the traditional different caliber holes, avoiding the problem that the holes are blocked by the unsmooth fruits or the screening efficiency is not high; a new screening method is proposed to ensure the accuracy of screening.

[0064] The specific principle can refer to the description of Figure 6 For example, in Figure 6 , a plurality of blocked laser receivers are connected to form the diameter corresponding to the fruit, and as long as the number of laser receivers is reasonably set, the accuracy of identification can be ensured.

[0065] In addition, the shape size and the shape whether to be deformed can realize the demand of various grading functions, which will be described later.

[0066] In some preferred embodiments, the first group of conveying assemblies 3, the second group of conveying assemblies 4 and the third group of conveying assemblies 5 are provided with surrounding plates 10 in the conveying direction thereof; the support frame 2 comprises a support rod and a base plate at the top of the support rod;

[0067] The laser emitter group 600 comprises a mounting plate arranged on the surrounding plates 10 of the first group of conveying assemblies 3 and the second group of conveying assemblies 4, and a plurality of laser emitters arranged on the bottom of the mounting plate along the width direction of the bottom plate 1.

[0068] 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 with the base plate.

[0069] In some preferred embodiments, referring to Figure 9 The control device 7 comprises a hierarchical mode selection module, a fruit maximum outer diameter identification module, and a fruit abnormal shape identification module.

[0070] The hierarchical mode selection module is used to select one of the fruit maximum outer diameter identification module and the fruit abnormal shape identification module, and is connected in communication.

[0071] The fruit shape identification device 6 is used to obtain the receiving condition of the laser receiver at each moment, and then output a plurality of line segments corresponding to the fruit according to the receiving condition.

[0072] The control device 7 controls the fruit maximum outer diameter identification 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 identification device 6.

[0073] The control device 7 controls the fruit abnormal shape identification 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 identification device 6.

[0074] In some preferred embodiments, referring to Figure 7 The fruit shape identification device 6 is used to obtain the receiving condition of the laser receiver at each moment, and then output a plurality of line segments corresponding to the fruit according to the receiving condition, comprising the following steps:

[0075] The signal receiving conditions of all laser receivers at each moment are analyzed to obtain the line segments; the analysis step comprises: if all laser receivers receive signals, a line segment with a standard length is output; otherwise, the number and position of the laser receivers that do not receive signals are obtained, and then a line segment representing the outer diameter of the fruit is generated according to the number and position;

[0076] The output line segments are arranged in chronological order, and the plurality of line segments representing the outer diameter of the fruit between two standard lengths are taken as the plurality of line segments corresponding to the fruit.

[0077] Further, the identification of the maximum outer diameter of the fruit is explained:

[0078] The control device 7 controls the fruit maximum outer diameter identification 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 identification device 6, comprising the following steps:

[0079] The plurality of line segments corresponding to the fruit output by the fruit shape identification 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 taken 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 less than the first set condition, the fruit just transported from the previous belt conveyor of the first group of conveying assemblies 3 to the next first belt conveyor of the first group of conveying assemblies 3 is sent to the second group of conveying assemblies 4;

[0082] If greater than the first set condition, the first pushing device 8 does not select.

[0083] Further, the outer contour track of the fruit is explained:

[0084] With reference to Figure 8 The control device 7 controls the fruit abnormality recognition module to calculate the outer contour track of the corresponding fruit according to the plurality of line segments of the corresponding fruit output by the fruit shape recognition device 6, including the following steps:

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

[0086] Marking both ends of each line segment to obtain a marked point; then connecting the marked points in chronological order and smoothing to obtain the outer contour track of the fruit.

[0087] The control device 7 controls the first pushing device 8 to determine whether the outer contour track of the fruit meets the design degree of the target shape; the target shape is a cylindrical shape or an elliptical shape; 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, the cylindrical shape has a concave part.

[0088] If not, the fruit just transported from the previous belt conveyor of the first group of conveying assemblies 3 to the next first belt conveyor of the first group of conveying assemblies 3 is sent to the second group of conveying assemblies 4;

[0089] If yes, the first pushing device 8 does not select.

[0090] In this embodiment, the specific process of the first group of conveying assemblies 3 and the first pushing device 8 for the two grading modes is explained, and the specific process of the second group of conveying assemblies 4 and the second pushing device 9 is the same, only the degree of grading is different, the second group of conveying assemblies 4 and the second pushing device 9 screen out smaller diameter fruits; the second group of conveying assemblies 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 part parallel to the width direction of the bottom plate 1 and a pushing block; the telescopic part is fixed on the base plate;

[0092] The first passageway is arranged on the surrounding plate 10 of the first conveying assembly 3 and the second conveying assembly 4, and is used for passing the fruits and the push block which do not meet the first set condition.

[0093] The second push device 9 is arranged on the surrounding plate 10 of the second conveying assembly 4, and has the same structure as the first push device 8.

[0094] The second passageway is arranged on the surrounding plate 10 of the second conveying assembly 4 and the third conveying assembly 5, and is used for passing the fruits and the push block which do not meet the second set condition.

[0095] The arrangement positions of the second push device 9 and the first push device 8 are limited above, and can be referred to Figure 4 and Figure 3 .

[0096] In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate the orientation or positional relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication between two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0097] It should be noted that in the present application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the sentence "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0098] The foregoing detailed description of the application has been presented for purposes of illustration and description. Various modifications and changes can be made to these embodiments without departing from the spirit and scope of the application. It is intended that the scope of the application should not be limited by the particular representative embodiments described above.

Claims

1. A multifunctional high-ground clearance pineapple harvesting automation equipment, characterized in that: It includes: A base plate (1) is provided with a support frame (2) thereon; a first group of conveying assemblies (3), a second group of conveying assemblies (4) and a third group of conveying assemblies (5) are provided on the top of the support frame (2) and are arranged side by side along the width direction of the base plate (1); 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 base 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) 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 classification mode to obtain a recognition result; A first pushing device (8) is mounted on the first group of conveying components (3); a control device (7) controls the first pushing device (8) to send fruits that do 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 fruits that do not meet the second set condition to the third group of conveying components (5) according to the recognition result; A harvesting platform (11) is provided with 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, 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) includes 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 plate (10) of the first group of conveying components (3) and the second group of conveying components (4), wherein a plurality of laser emitters are provided at the bottom of the mounting plate along the width direction of the bottom plate (1); 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) includes a classification mode selection module, a fruit maximum outer diameter recognition module, and a fruit deformity recognition module; 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; 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 based on 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 based on the multiple line segments of the corresponding fruit output by the fruit shape recognition device (6).

4. The multifunctional high-ground clearance pineapple harvesting automated 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, comprising 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, outputting a line segment of standard length; otherwise, obtaining the number and position of laser receivers that do not receive signals, and then generating a line segment representing the outer diameter of the fruit based on the number and position; 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 automated 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 based on a plurality of 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) is 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-clearance pineapple harvesting automated 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 first 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) does not perform selection.

7. The multifunctional high-clearance pineapple harvesting automated 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 based on the multiple line segments of the corresponding fruit output by the fruit shape recognition device (6), including the following steps: Acquiring a plurality of line segments corresponding to the fruit output by the fruit shape recognition device (6); Mark the two ends of each line segment to obtain marking points; then connect the marking points in chronological order and smooth them to obtain the outer contour trajectory of the fruit.

8. The multifunctional high-clearance pineapple harvesting automated 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 conveying assembly (3) to the next first belt conveyor of the first conveying assembly (3) is conveyed to the second conveying assembly (4); If so, the first pushing device (8) does not perform selection.

9. The multifunctional high-ground clearance pineapple harvesting automated 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-clearance pineapple harvesting automated 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 baffles (10) of the second and third conveying assemblies (4) are provided with a second channel for fruits and push blocks that do not meet the second set conditions to pass through, and the second channel and the first channel are respectively located at the two ends of the second conveying assembly (4) in the length direction.

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