Automatic detection device for sugar content of cane

Abstract

The invention relates to the technical field of agricultural detection, and provides a cane sugar content automatic detection device, which comprises a mobile platform, a mechanical arm, an end effector and a controller, the mechanical arm is arranged on the mobile platform and is provided with an execution tail end capable of reaching the position of the sugarcane to be detected; the end effector is arranged at the execution tail end of the mechanical arm and comprises a sampling module, a juicing module and a detection module, the sampling module is used for sampling sugarcane to be detected to obtain a sugarcane sample, the juicing module is used for juicing the sugarcane sample to obtain sugarcane juice, and the detection module is used for detecting the sugarcane juice. The detection module is used for detecting the sugarcane juice to obtain the sugar content of the sugarcane; the controller is electrically connected with the moving platform, the mechanical arm and the end effector. According to the invention, sampling, juicing and cane sugar content detection can be automatically completed, detection operation can be rapidly and repeatedly carried out, the detection efficiency is obviously improved, and the requirements of large-scale field rapid and efficient detection are met.

Description

Technical Field

[0001] The present invention relates to the field of agricultural detection technology, and in particular to a device for automatically detecting the sugar content of sugarcane. Background Art

[0002] Currently, sugarcane sugar content testing relies heavily on manual sampling and laboratory analysis. Manual sampling is labor-intensive, and due to the widespread sugarcane cultivation, the transportation of samples to the laboratory is time-consuming, severely impacting testing efficiency. This results in a delay in providing timely sugar content data for sugarcane harvesting and processing, increasing industry costs. Furthermore, laboratory analysis is complex and requires high-level technical expertise, further increasing operational complexity. Consequently, existing sugarcane sugar content testing suffers from low efficiency and a high demand for skilled personnel, making it difficult to meet the needs of large-scale, rapid, and efficient field testing. Summary of the Invention

[0003] The present invention provides an automatic detection device for sugarcane sugar content, which is used to at least solve or improve the problems of existing sugarcane sugar content detection methods, such as low detection efficiency, high requirements for detection technicians, and difficulty in meeting the needs of large-scale field rapid and efficient detection.

[0004] The present invention provides a device for automatically detecting sugar content in sugarcane, comprising: Mobile platforms; a robotic arm, disposed on the mobile platform and provided with an execution end capable of reaching the location of the sugarcane to be tested; an end effector, disposed at the end of the manipulator arm, comprising a sampling module, a juicing module, and a detection module, wherein the sampling module is used to sample sugarcane to be tested to obtain a sugarcane sample, the juicing module is used to juice the sugarcane sample to obtain sugarcane juice, and the detection module is used to detect the sugarcane juice to obtain the sugarcane sugar content; A controller is electrically connected to the mobile platform, the robotic arm, and the end effector respectively.

[0005] According to the present invention, a device for automatically detecting sugar content in sugarcane is provided, wherein the sampling module comprises: a sampling mechanism, comprising a first driving component and a sampling head, wherein the first driving component is connected to the sampling head to drive the sampling head to obtain the sugarcane sample from the sugarcane to be tested; The pushing mechanism includes a second driving assembly and a push rod. The second driving assembly is connected to the push rod. The second driving assembly is used to drive the push rod to push the sugarcane sample obtained by the sampling head to the juicing module.

[0006] According to the automatic detection device for sugarcane sugar content provided by the present invention, the first driving assembly includes: a first linear motor, a first rotary motor and a second rotary motor; The first linear motor is connected to the first rotary motor to drive the first rotary motor to move in a first direction. The first rotary motor is rotatably connected to the sampling head via the second rotary motor, and the second rotary motor drives the sampling head to swing between a first state and a second state. The pushing mechanism and the juice extraction module are configured to be arranged relative to each other along the second direction. When the sampling head is in the first state, the sampling head is extended along the first direction, and the first linear motor and the first rotary motor cooperate to control the sampling head to obtain the sugarcane sample from the sugarcane to be tested; When the sampling head is in the second state, the sampling head is extended along the second direction, and the push rod is driven by the second driving assembly to push the sugarcane sample to the juicing module.

[0007] According to the automatic detection device for sugarcane sugar content provided by the present invention, the second driving assembly includes: a second linear motor and a third linear motor; The second linear motor is connected to the third linear motor to drive the third linear motor to move along the second direction; the third linear motor is connected to the push rod to drive the push rod to move up and down; The sampling head includes an inner cavity, a knife edge and a first opening communicated with the inner cavity, the knife edge is provided at one end of the sampling head facing the sugarcane to be tested, and the first opening is provided on a side wall of the sampling head; The push rod is configured to be able to enter the inner cavity from the first opening under the drive of the third linear motor.

[0008] According to the present invention, a device for automatically detecting sugar content in sugarcane is provided, wherein the juicing module comprises: a housing including a juicing chamber and a feed port, a discharge port, and a second opening connected to the juicing chamber; the feed port is used to allow the sugarcane sample to enter the juicing chamber, and the discharge port is used to allow the sugarcane juice to be discharged from the juicing chamber; The squeezing mechanism includes a linear driving member and a squeezing block, wherein the linear driving member is connected to the squeezing block to drive the squeezing block into the juicing chamber from the second opening.

[0009] According to the automatic detection device for sugarcane sugar content provided by the present invention, the juicing module further includes: a squeezing wheel, which is rotatably disposed in the juicing chamber and is configured to be disposed opposite to the squeezing block. The squeezing wheel and the squeezing block cooperate to juice the sugarcane sample.

[0010] According to the present invention, a device for automatically detecting sugarcane sugar content is provided, wherein the detection module comprises: a filter screen, the filter screen being used to receive the sugarcane juice discharged from the juicing module to filter the sugarcane juice; A sugar meter is detachably arranged on the lower side of the filter to detect the sugarcane juice after being filtered by the filter.

[0011] According to the automatic detection device for sugarcane sugar content provided by the present invention, the detection module further comprises: a linear conveyor connected to the filter screen to drive the filter screen to switch between the first position and the second position; When the filter is in the first position, the filter is located below the juice extraction module; when the filter is in the second position, the filter is located away from the bottom of the juice extraction module.

[0012] According to the present invention, an automatic detection device for sugarcane sugar content also includes: a cleaning module; the cleaning module includes an air supply device, a water supply device and an air-water multiplexing pipe, the air supply device and the water supply device are respectively connected to one end of the air-water multiplexing pipe, and the other end of the air-water multiplexing pipe is connected to the juicing module.

[0013] According to a device for automatically detecting sugar content in sugarcane provided by the present invention, the end effector further includes: a shell, which is connected to the execution end of the robotic arm, the shell including a accommodating cavity and a positioning port connected to the accommodating cavity, the sampling module, the juicing module, and the detection module are respectively arranged in the accommodating cavity, and the positioning port is used to position the sugarcane to be tested.

[0014] The automatic detection device for sugarcane sugar content provided by the present invention is configured with a mobile platform, a robotic arm, an end effector and a controller. Since the controller is electrically connected to the mobile platform, the robotic arm and the end effector respectively, in actual application, the controller can plan the movement path of the mobile platform according to the preset task, and control the mobile platform to move along the path to the detection area. Then, the controller controls the robotic arm to adjust the posture so that the robotic arm drives the end effector to align with the specified position on the sugarcane to be tested. Finally, the controller controls the sampling module, juice extraction module and detection module corresponding to the end effector to work in sequence. The entire detection process does not require excessive human intervention, and can realize the coordinated work of various functional modules, and automatically completes the sampling of sugarcane samples, the extraction of sugarcane juice and the detection of sugarcane sugar content. It can perform detection operations quickly and repeatedly, significantly improving the detection efficiency and meeting the needs of large-scale field rapid and efficient detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a structural schematic diagram of the automatic detection device for sugarcane sugar content provided by the present invention.

[0017] Figure 2 This is one of the structural schematic diagrams of the end effector provided by the present invention.

[0018] Figure 3 This is the second structural schematic diagram of the end effector provided by the present invention.

[0019] Figure 4 This is one of the structural schematic diagrams of the sampling module provided by the present invention for sampling and obtaining sugarcane samples and delivering them to the juicing module.

[0020] Figure 5 This is the second structural schematic diagram of the sampling module provided by the present invention, which samples the sugarcane sample and delivers it to the juicing module.

[0021] Figure 6 This is one of the structural schematic diagrams of the juice extraction module provided by the present invention.

[0022] Figure 7 This is the second structural schematic diagram of the juice extraction module provided by the present invention.

[0023] Reference numerals: 1. Mobile platform; 2. Robotic arm; 3. Vision sensor; 4. End effector; 41. Sampling module; 42. Juicing module; 43. Detection module; 44. Cleaning module; 4101. Positioning port; 411. Sampling mechanism; 4111. First drive assembly; 41111. First linear motor; 41112. First rotary motor; 41113. Second rotary motor; 4112. Sampling head; 41120. First opening; 412. Push mechanism; 4121. Second drive assembly; 4122. Push rod; 41211. Second linear motor; 41212. Third linear motor; 421. Housing; 4211. Juicing chamber; 4212. Feed port; 4213. Second opening; 422. Extrusion mechanism; 4221. Linear drive member; 4222. Extrusion block; 423. Extrusion wheel; 431. Filter; 432. Glucose meter; 433. Linear conveyor; 10. Sugarcane to be tested. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] The following combination Figure 1-Figure 7 , the automatic detection device for sugarcane sugar content provided by the embodiment of the invention is described in detail through specific embodiments and application scenarios.

[0026] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a device for automatically detecting sugar content in sugarcane, comprising: a mobile platform 1, a robotic arm 2, an end effector 4, and a controller; The robotic arm 2 is disposed on the mobile platform 1. For example, the base of the robotic arm 2 is connected to the mobile platform 1. The robotic arm 2 is provided with an execution end capable of reaching the location of the sugarcane 10 to be tested. That is, the execution end and the base form the two ends of the robotic arm 2. The end effector 4 is disposed at the end of the robotic arm 2. The end effector 4 includes a sampling module 41, a juicing module 42, and a detection module 43. The sampling module 41 is used to sample the sugarcane 10 to be tested to obtain a sugarcane sample. The juicing module 42 is used to juice the sugarcane sample to obtain sugarcane juice. The detection module 43 is used to detect the sugarcane juice to obtain the sugarcane sugar content. The controller is electrically connected to the mobile platform 1, the robotic arm 2, and the end effector 4, respectively.

[0027] It is understandable that the mobile platform 1 can be a mobile cart with automated movement and load capacity, which can support continuous walking operations under complex terrain and can move freely in places such as sugarcane planting areas to meet the sugar measurement requirements of the entire set of detection equipment.

[0028] The robotic arm 2 can be a multi-axis robotic arm, such as a six-axis robotic arm. For example, the robotic arm 2 comprises multiple sequentially connected segments, with adjacent segments connected by rotatable active joints. This allows the robotic arm 2 to flexibly rotate and extend at multiple angles and positions. This allows the robotic arm 2 to adjust its posture, ensuring that the end effector 4 can reach the desired location of the sugarcane 10 to be inspected.

[0029] The detection device may further be equipped with a visual sensor 3, for example, a binocular camera. The visual sensor 3 may be disposed at the execution end of the robotic arm 2 or on the end effector 4. The visual sensor 3 is used to detect the position information of the stalk of the sugarcane 10 to be tested. The controller may be a single-chip microcomputer or a PLC controller. The controller is used to adjust the posture of the robotic arm 2 according to the position information fed back by the visual sensor 3, so that the end effector 4 can accurately sample the sugarcane sample at a designated position on the sugarcane 10 to be tested.

[0030] Since the controller is electrically connected to the mobile platform 1, the robotic arm 2 and the end effector 4 respectively, in actual applications, the controller can plan the movement path of the mobile platform 1 according to the preset task, and control the mobile platform 1 to move along the path to the detection area. Then, the controller controls the robotic arm 2 to adjust the posture according to the position information fed back by the visual sensor 3, so that the robotic arm 2 drives the end effector 4 to accurately align with the specified position on the sugarcane 10 to be tested. Finally, the controller controls the sampling module 41, the juice extraction module 42 and the detection module 43 corresponding to the end effector 4 to work in sequence. The entire detection process does not require excessive human intervention, and can realize the coordinated work of various functional modules, and automatically complete the sampling of sugarcane samples, the extraction of sugarcane juice and the detection of sugarcane sugar content. It can perform detection operations quickly and repeatedly, significantly improving the detection efficiency and meeting the needs of large-scale field rapid and efficient detection.

[0031] In some embodiments, as Figure 2 and Figure 6 As shown, the sampling module 41 includes: a sampling mechanism 411 and a pushing mechanism 412; The sampling mechanism 411 includes a first drive assembly 4111 and a sampling head 4112. The first drive assembly 4111 and the sampling head 4112 are connected to drive the sampling head 4112 to obtain a sugarcane sample from the sugarcane 10 to be tested. The pushing mechanism 412 includes a second drive assembly 4121 and a push rod 4122. The second drive assembly 4121 and the push rod 4122 are connected to drive the push rod 4122 to push the sugarcane sample obtained by the sampling head 4112 to the juicing module 42.

[0032] It can be understood that the sampling mechanism 411 and the pushing mechanism 412 can be electrically connected to a controller respectively. The controller is used to control the sampling mechanism 411 and the pushing mechanism 412 to operate in sequence, so that after the sampling head 4112 of the sampling mechanism 411 completes sampling of the sugarcane sample, the pushing mechanism 412 pushes the sugarcane sample obtained by the sampling head 4112 into the juicing chamber 4211 of the juicing module 42 through the push rod 4122, and the juicing module 42 performs juice extraction on the sugarcane sample.

[0033] Among them, the first driving component 4111 corresponding to the sampling mechanism 411 and the second driving component 4121 corresponding to the pushing mechanism 412 can both be power mechanisms such as robotic arms and push rods known in the art.

[0034] In some embodiments, as Figure 4 and Figure 5 As shown, the first driving assembly 4111 includes: a first linear motor 41111, a first rotary motor 41112 and a second rotary motor 41113; The first linear motor 41111 is connected to the first rotary motor 41112 to drive the first rotary motor 41112 to move in a first direction. The first rotary motor 41112 is rotatably connected to the sampling head 4112 via the second rotary motor 41113. The second rotary motor 41113 drives the sampling head 4112 to swing between a first state and a second state. The pushing mechanism 412 and the juice extraction module 42 are configured to be arranged relative to each other along the second direction. When the sampling head 4112 is in a first state, the sampling head 4112 extends along a first direction, and the first linear motor 41111 and the first rotary motor 41112 cooperate to control the sampling head 4112 to obtain a sugarcane sample from the sugarcane 10 to be tested. When the sampling head 4112 is in a second state, the sampling head 4112 extends along a second direction, and the push rod 4122, driven by the second drive assembly 4121, pushes the sugarcane sample to the juicing module 42.

[0035] It can be understood that the first linear motor 41111 can be a linear DC motor, and the first rotary motor 41112 and the second rotary motor 41113 can both be DC servo motors.

[0036] When sampling sugarcane samples, the second rotary motor 41113 drives the sampling head 4112 to be in the first state. At this time, the controller controls the first linear motor 41111 to drive the first rotary motor 41112 to move along the first direction, and the controller also controls the first rotary motor 41112 to rotate, so that the sampling head 4112 approaches the sugarcane 10 to be tested along the first direction, and the sampling head 4112 contacts the side wall of the sugarcane 10 to be tested in a rotating manner to ensure that the sampling head 4112 can be inserted into the sugarcane 10 to be tested to complete the sampling of the sugarcane sample.

[0037] In order to facilitate the sampling operation of the sampling head 4112, the sampling head 4112 can be a cylindrical drill bit. After completing the sampling of the sugarcane sample, the controller only needs to control the first linear motor 41111 to drive the first rotary motor 41112 to move along the first direction toward the side away from the sugarcane 10 to ensure that the sampling head 4112 is separated from the sugarcane 10 to be tested.

[0038] Furthermore, after completing the sampling of the sugarcane sample, the second rotating motor 41113 can drive the sampling head 4112 to swing 90°, so that the sampling head 4112 switches from the first state to the second state, and the sampling head 4112 can be arranged opposite to the juicing module 42 along the second direction. At this time, the controller can control the second driving component 4121 to drive the push rod 4122 to move along the second direction toward the juicing module 42, and the push rod 4122 pushes the sugarcane sample sampled by the sampling head 4112 into the juicing chamber 4211 of the juicing module 42, and the juicing module 42 performs juice processing on the sugarcane sample.

[0039] In some embodiments, as Figure 4 and Figure 5 As shown, the second driving assembly 4121 includes: a second linear motor 41211 and a third linear motor 41212; The second linear motor 41211 is connected to the third linear motor 41212 to drive the third linear motor 41212 to move along the second direction; the third linear motor 41212 is connected to the push rod 4122 to drive the push rod 4122 to move up and down; The sampling head 4112 includes an inner cavity, a blade connected to the inner cavity, and a first opening 41120. The blade is provided at one end of the sampling head 4112 facing the sugarcane 10 to be tested. The blade can be configured as a serrated structure extending along the circumference of the sampling head 4112. The first opening 41120 is provided on the side wall of the sampling head 4112; wherein, the push rod 4122 is configured to be able to enter the inner cavity from the first opening 41120 under the drive of the third linear motor 41212, and the length of the push rod 4122 is set to be less than the length of the first opening 41120 extending along the axial direction of the sampling head 4112.

[0040] It can be understood that both the second linear motor 41211 and the third linear motor 41212 can be linear DC motors.

[0041] In actual application, when the second rotating motor 41113 can drive the sampling head 4112 to swing 90° so that the sampling head 4112 switches from the first state to the second state, the first opening 41120 is configured to be set on the upper surface of the sampling head 4112. At this time, the controller controls the second linear motor 41211 to drive the third linear motor 41212 to move along the second direction toward the juicing module 42 until the push rod 4122 is located directly above the first opening 41120. Then, the controller controls the third linear motor 41212 to drive the push rod 4122 to move downward until the push rod 4122 enters the inner cavity from the first opening 41120. Finally, the controller controls the second linear motor 41211 to drive the third linear motor 41212 to move along the second direction toward the juicing module 42 to ensure that the push rod 4122 moves in the inner cavity to push the sugarcane sample out of the sampling head 4112 until it reaches the juicing chamber 4211 of the juicing module 42.

[0042] In some embodiments, as Figure 6 and Figure 7 As shown, the juicing module 42 includes: a shell 421 and a squeezing mechanism 422; the shell 421 includes a juicing chamber 4211 and a feed port 4212, a discharge port, and a second opening 4213 connected to the juicing chamber 4211; the feed port 4212 is used to allow sugarcane samples to enter the juicing chamber 4211, and the discharge port is used to allow sugarcane juice to be discharged from the juicing chamber 4211; the squeezing mechanism 422 includes a linear drive member 4221 and a squeezing block 4222, and the linear drive member 4221 and the squeezing block 4222 are connected to drive the squeezing block 4222 to enter the juicing chamber 4211 through the second opening 4213.

[0043] in, Figure 6 The squeezing block 4222 is shown inserted at the second opening 4213 , but not inserted into the juice extraction chamber 4211 from the second opening 4213 ; Figure 7 It shows that the squeezing block 4222 has been inserted into the juicing chamber 4211 through the second opening 4213 .

[0044] It can be understood that the feed port 4212 can be set on the side wall of the shell 421, and the feed port 4212 and the pushing mechanism 412 are arranged opposite to each other along the second direction; the discharge port can be set on the bottom wall of the shell 421, so that the sugarcane bagasse and sugarcane juice after squeezing the sugarcane sample are discharged from the discharge port under the action of their own gravity; the second opening 4213 can be set on the top wall of the shell 421, so that the squeezing block 4222 can squeeze the sugarcane sample under the pressure provided by the linear drive 4221 and the self-gravity of the squeezing block 4222, thereby ensuring the juicing effect of the sugarcane sample.

[0045] In some examples, the linear drive member 4221 includes a screw motor, a screw and a connecting arm, the output end of the screw motor is connected to the screw, the screw is vertically distributed, the connecting arm is horizontally distributed, the first end of the connecting arm is provided with a screw nut, the screw nut is threadedly connected to the screw, the second end of the connecting arm is connected to the extrusion block 4222, and the extrusion block 4222 slides with the second opening 4213 along the vertical direction.

[0046] In this way, when the screw motor starts running, the screw motor can drive the screw to rotate around the vertical axis. According to the threaded fit between the screw and the screw nut, and the sliding fit of the extrusion block 4222 with the second opening 4213 in the vertical direction, the screw nut can drive the connecting arm to rise and fall in the vertical direction, and then the connecting arm can drive the extrusion block 4222 to extend from the second opening 4213 into the juicing chamber 4211, or leave the juicing chamber 4211.

[0047] In this embodiment, the size of the extrusion block 4222 and the setting height of the feed port 4212 can be configured according to actual needs to ensure that when the extrusion block 4222 extends into the juicing chamber 4211, the extrusion block 4222 blocks the feed port 4212.

[0048] In addition, the discharge port of the housing 421 can be equipped with a discharge control valve, which is electrically connected to the controller. When the sugarcane sample is being juiced, the controller controls the discharge control valve to be in a closed state. After the sugarcane sample is juiced, the controller controls the discharge control valve to be in an open state so that the sugarcane juice obtained by juicing is discharged from the discharge port.

[0049] In some embodiments, as Figure 6 As shown, in order to enhance the juicing effect of the sugarcane sample, the juicing module 42 further includes: a squeezing wheel 423, which is rotatably disposed in the juicing chamber 4211 and is configured to be disposed opposite to the squeezing block 4222. The squeezing wheel 423 and the squeezing block 4222 cooperate to extract the juice from the sugarcane sample.

[0050] Specifically, the extrusion wheel 423 can be disposed on the bottom wall of the housing 421, and the extrusion block 4222 and the extrusion wheel 423 can be arranged in an upper and lower relative position. There can be multiple extrusion wheels 423, and the multiple extrusion wheels 423 can be driven to rotate synchronously by the same power mechanism, or each extrusion wheel 423 can be driven to rotate independently by a power mechanism, without specific limitation.

[0051] In some embodiments, as Figure 3 As shown, the detection module 43 includes: a filter 431 and a sugar meter 432; The filter 431 is used to receive the sugarcane juice discharged from the juicing module 42 to filter the sugarcane juice; the sugar meter 432 is detachably provided on the lower side of the filter 431 to detect the sugarcane juice after being filtered by the filter 431.

[0052] It is understandable that the filter 431 can be a metal wire mesh, and the sugar meter 432 can be a near-infrared analyzer or a digital refractometer capable of detecting sugar content.

[0053] After juicing the sugarcane sample, the output from the juicing module 42 consists of bagasse and juice. Therefore, the output is filtered using a filter 431 to separate the bagasse from the juice. Furthermore, the sugar meter 432 is detachably connected to the filter 431, making it easy to clean each separately.

[0054] In some embodiments, as Figure 3 As shown, the detection module 43 further includes: a linear conveying member 433, the linear conveying member 433 is connected to the filter 431 to drive the filter 431 to switch between the first position and the second position; When the filter 431 is in the first position, the filter 431 is located below the juicing module 42. At this time, the filter 431 can receive the discharge from the juicing module 42. After the discharge is filtered by the filter 431, the sugar meter 432 can test the sugar content of the sugarcane juice obtained by filtering the filter 431.

[0055] Correspondingly, when in the second position, the filter screen 431 is located below and away from the juice extraction module 42. At this time, the juice extraction chamber 4211 of the juice extraction module 42 can be cleaned by washing with water.

[0056] In some embodiments, as Figure 6 and Figure 7 As shown, the automatic detection device for sugarcane sugar content also includes: a cleaning module 44; the cleaning module 44 includes an air supply device, a water supply device and an air-water reuse pipe, the air supply device and the water supply device are respectively connected to one end of the air-water reuse pipe, and the other end of the air-water reuse pipe is connected to the juice extraction module 42.

[0057] It can be understood that the air-water reuse tube is connected to the juicing chamber 4211 of the juicing module 42. After completing one inspection, the water supply equipment can be controlled to supply water to the air-water reuse tube, and the juicing chamber 4211 and related components associated with the juicing chamber 4211 are washed with water to remove residual impurities; after completing the water washing, the air supply equipment can be controlled to supply air to the air-water reuse tube, and the juicing chamber 4211 and related components associated with the juicing chamber 4211 are purged to ensure that these components are clean and dry for next use.

[0058] In actual application, since the extrusion block 4222 can enter the juicing chamber 4211 from the second opening 4213, a channel can be set in the extrusion block 4222, and the air-water reuse tube can be connected to the channel and connected to the juicing chamber 4211 based on the channel. This design not only realizes the layout of the air-water reuse tube, but also facilitates the cleaning of the juicing chamber 4211 and the extrusion block 4222.

[0059] In addition, in order to facilitate the repeatable detection of the sugar content of sugarcane, a discharge port can be set on one side of the filter 431. When the cleaning module 44 washes the juicing module 42 with water, after the sugarcane bagasse is discharged from the juicing module 42 to the filter 431, it can be ensured that the sugarcane bagasse is discharged from the discharge port together with the water flow to prevent the sugarcane bagasse from remaining on the filter 431 and causing blockage of the filter 431, so as to prepare for the next juicing work, thereby ensuring that the detection module 43 can perform detection operations multiple times.

[0060] In some embodiments, as Figure 1 and Figure 2 As shown, the end effector 4 further includes: a housing, which is connected to the end effector of the robotic arm 2. The housing includes a receiving cavity and a positioning port 4101 communicating with the receiving cavity. The sampling module 41, the juicing module 42, and the detection module 43 are respectively arranged in the receiving cavity. The positioning port 4101 is used to position the sugarcane 10 to be tested.

[0061] Specifically, a partition may be provided in the housing, the sampling module 41 and the juice extraction module 42 may be provided on the upper side of the partition, and the detection module 43 may be provided on the lower side of the partition.

[0062] At the same time, the positioning opening 4101 can be configured as an arc-shaped notch to ensure that the inner wall of the positioning opening 4101 fits snugly against the surrounding wall of the sugarcane 10 to be tested when sampling the sugarcane. A clamping structure, such as a claw, can also be provided at the positioning opening 4101 to clamp the sugarcane 10 to prevent it from shaking during the sampling process.

[0063] In summary, the detection device shown in the present invention can realize the coordinated work of various functional modules, realize the automated operation from sugarcane sampling to juicing and subsequent cleaning, improve work efficiency, and ensure the consistency and cleanliness of the juicing process.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A device for automatically detecting sugar content in sugarcane, characterized in that: include: Mobile platforms; a robotic arm, disposed on the mobile platform and provided with an execution end capable of reaching the location of the sugarcane to be tested; an end effector, disposed at the end of the manipulator arm, comprising a sampling module, a juicing module, and a detection module, wherein the sampling module is used to sample sugarcane to be tested to obtain a sugarcane sample, the juicing module is used to juice the sugarcane sample to obtain sugarcane juice, and the detection module is used to detect the sugarcane juice to obtain the sugarcane sugar content; A controller is electrically connected to the mobile platform, the robotic arm, and the end effector respectively.

2. The automatic detection device for sugarcane sugar content according to claim 1, characterized in that: The sampling module comprises: The sampling mechanism includes a first driving assembly and a sampling head, wherein the first driving assembly is connected to the sampling head to drive the sampling head to obtain the sugarcane sample from the sugarcane to be tested; The pushing mechanism includes a second driving assembly and a push rod. The second driving assembly is connected to the push rod. The second driving assembly is used to drive the push rod to push the sugarcane sample obtained by the sampling head to the juicing module.

3. The automatic detection device for sugarcane sugar content according to claim 2, characterized in that: The first drive assembly includes: a first linear motor, a first rotary motor and a second rotary motor; The first linear motor is connected to the first rotary motor to drive the first rotary motor to move in a first direction. The first rotary motor is rotatably connected to the sampling head via the second rotary motor, and the second rotary motor drives the sampling head to swing between a first state and a second state. The pushing mechanism and the juice extraction module are configured to be arranged relative to each other along the second direction. When the sampling head is in the first state, the sampling head is extended along the first direction, and the first linear motor and the first rotary motor cooperate to control the sampling head to obtain the sugarcane sample from the sugarcane to be tested; When the sampling head is in the second state, the sampling head is extended along the second direction, and the push rod is driven by the second driving assembly to push the sugarcane sample to the juicing module.

4. The automatic detection device for sugarcane sugar content according to claim 3, characterized in that: The second driving assembly includes: a second linear motor and a third linear motor; The second linear motor is connected to the third linear motor to drive the third linear motor to move along the second direction; the third linear motor is connected to the push rod to drive the push rod to move up and down; The sampling head includes an inner cavity, a knife edge and a first opening communicated with the inner cavity, the knife edge is provided at one end of the sampling head facing the sugarcane to be tested, and the first opening is provided on a side wall of the sampling head; The push rod is configured to be able to enter the inner cavity from the first opening under the drive of the third linear motor.

5. The automatic detection device for sugarcane sugar content according to claim 1, characterized in that: The juicing module comprises: The housing comprises a juicing chamber and a feed port, a discharge port and a second opening connected to the juicing chamber; the feed port is used for allowing the sugarcane sample to enter the juicing chamber, and the discharge port is used for allowing the sugarcane juice to be discharged from the juicing chamber; The squeezing mechanism includes a linear driving member and a squeezing block, wherein the linear driving member is connected to the squeezing block to drive the squeezing block into the juicing chamber from the second opening.

6. The automatic detection device for sugarcane sugar content according to claim 5, characterized in that: The juicing module also includes: A squeezing wheel is rotatably disposed in the juicing chamber and is configured to be disposed opposite to the squeezing block. The squeezing wheel and the squeezing block cooperate to squeeze the juice from the sugarcane sample.

7. The automatic detection device for sugarcane sugar content according to claim 1, characterized in that: The detection module includes: a filter screen, the filter screen being used to receive the sugarcane juice discharged from the juicing module to filter the sugarcane juice; A sugar meter is detachably arranged on the lower side of the filter to detect the sugarcane juice after being filtered by the filter.

8. The automatic detection device for sugarcane sugar content according to claim 7, characterized in that: The detection module also includes: a linear conveying member connected to the filter screen to drive the filter screen to switch between a first position and a second position; When the filter is in the first position, the filter is located below the juice extraction module; when the filter is in the second position, the filter is located away from the bottom of the juice extraction module.

9. The automatic detection device for sugarcane sugar content according to claim 7, characterized in that: Also includes: Cleaning module; The cleaning module includes an air supply device, a water supply device and an air-water reuse pipe. The air supply device and the water supply device are respectively connected to one end of the air-water reuse pipe, and the other end of the air-water reuse pipe is connected to the juice extraction module.

10. The automatic detection device for sugarcane sugar content according to any one of claims 1 to 9, characterized in that: The end effector further comprises: The shell is connected to the execution end of the robotic arm, the shell includes a accommodating cavity and a positioning port connected to the accommodating cavity, the sampling module, the juicing module and the detection module are respectively arranged in the accommodating cavity, and the positioning port is used to position the sugarcane to be tested.

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