Vegetable and fruit picking device based on artificial intelligence vision

Abstract

The application belongs to the technical field of vegetable and fruit picking equipment, and particularly discloses a vegetable and fruit picking equipment based on artificial intelligence vision, which comprises a box body, a driving mechanism connected to the lower end of the box body, a visual recognition device and an intelligent mechanical arm arranged on the box body, a collecting mechanism arranged on one side of the upper end of the box body, a quick-connection end head arranged at one end of the intelligent mechanical arm, two groups of quick-release mechanisms arranged on the two sides of the box body, and two groups of the quick-release mechanisms used for placing different clamps. The quick-release mechanism comprises a cross rod, and the cross rod is connected with a connecting plate on one side. Two placing grooves are formed in the upper end of the connecting plate. The quick-release mechanism and the quick-connection end head are matched to realize the quick and automatic replacement of different picking clamps. Different varieties of vegetables and fruits can be adapted according to the visual recognition result, manual disassembly and assembly are not needed, the production replacement efficiency is high, and the equipment has high versatility.

Description

Technical Field

[0001] This invention belongs to the technical field of fruit and vegetable harvesting equipment, and specifically discloses a fruit and vegetable harvesting equipment based on artificial intelligence vision. Background Technology

[0002] In the field of intelligent agricultural power machinery and horticultural machinery manufacturing, automated and intelligent equipment for fruit and vegetable harvesting is constantly emerging. With the help of visual recognition technology, harvesting devices are guided by multi-degree-of-freedom robotic arms and mobile chassis, enabling the equipment to replace manual labor to a certain extent in finding, locating, grasping, and harvesting fruits. Commonly, existing intelligent harvesting equipment is usually equipped with industrial cameras or depth sensors to acquire images of fruits. Lightweight deep learning models are used to determine whether the fruits are ripe and calculate their spatial position. Then, combined with path planning methods, the robotic arm drives the harvesting gripper to complete the harvesting action. With the continuous rise in labor costs and the development of agricultural planting towards large-scale and standardized directions, this type of equipment has been gradually applied in greenhouse and open-field planting of cash crops such as tomatoes, apples, strawberries, and citrus. It plays a positive role in alleviating labor shortages during busy farming seasons, reducing the labor burden on farmers, and improving the consistency and efficiency of harvesting operations.

[0003] However, most common intelligent harvesting equipment is designed for single fruit and vegetable varieties. Its harvesting grippers are fixedly configured based on the specific size, shape, peel firmness, and stem thickness of the fruit, lacking versatility. When growers need to harvest different types of fruits and vegetables in the same plot or at different seasons, they often face a dilemma: either replace the entire machine, incurring high costs, or manually replace the grippers and adjust settings, a cumbersome and time-consuming process. Furthermore, existing equipment lacks the function of automatically switching grippers based on recognition results. It cannot automatically select and replace a suitable gripper from multiple backup grippers after determining the type of fruit to be harvested, making it difficult to achieve rapid, non-stop switching in multi-variety harvesting scenarios, severely impacting operational efficiency and equipment utilization. Summary of the Invention

[0004] To address the technical problem that existing fruit and vegetable harvesting equipment cannot quickly change the harvesting grippers when dealing with different varieties of fruits and vegetables, requiring manual disassembly and replacement, and resulting in low efficiency in cross-variety operations, this invention provides a fruit and vegetable harvesting equipment based on artificial intelligence vision.

[0005] To achieve the above objectives, the present invention provides a fruit and vegetable harvesting device based on artificial intelligence vision, including a box, a drive mechanism connected to the lower end of the box, a visual recognition device and an intelligent robotic arm installed on the box, a collection mechanism installed on one side of the upper end of the box, and a quick-connect end provided at one end of the intelligent robotic arm.

[0006] Two sets of quick-release mechanisms are provided on both sides of the box, and the two sets of quick-release mechanisms are used to place different clamps.

[0007] The quick-release mechanism includes a crossbar, a connecting plate connected to one side of the crossbar, two placement slots opened at the upper end of the connecting plate, and the two sets of quick-release mechanisms have a total of four placement slots. A support block is provided above the connecting plate corresponding to the placement slot, a snap-fit ​​groove is opened in the middle of one side of the support block, and a clamping block is provided on one side of the two support blocks.

[0008] The quick-connect end is provided with a two-claw shearing clamp at its lower end. One quick-release mechanism has two slots in which a three-claw clamp and a four-claw clamp are placed respectively. Another quick-release mechanism has a hand-shaped clamp in one of its slots. The other slot is empty and is used to allow the quick-connect end to be removed and the two-claw shearing clamp to be placed. The four clamps are adapted to the harvesting needs of different fruit and vegetable varieties. The quick-connect end can be connected and locked with the quick-connect plug of any clamp to achieve quick clamp change.

[0009] The two-jaw shearing clamp, the hand-shaped clamp, the three-jaw clamp, and the four-jaw clamp are all equipped with quick-connect plugs at their upper ends. Each of the quick-connect plugs has a first mating contact block on one side and a second mating contact block on one side of the quick-connect end. When the first mating contact block and the second mating contact block are connected, they are in contact and conduct electricity to automatically power the clamp.

[0010] Both crossbars are equipped with a purging mechanism at their lower ends;

[0011] The drive mechanism moves the equipment, the visual recognition device is used to collect images of fruits and vegetables and identify the variety, the intelligent robotic arm drives the quick-connect end to perform the picking action, the quick-release mechanism provides multiple placement slots for storing different clamps, the clamping block fixes the clamps in the snap-fit ​​slot to prevent them from shaking and falling off when the equipment moves, and the blowing mechanism is used to clean the clamps in the storage state.

[0012] Preferably, the drive mechanism includes a base plate, which is installed below the housing, and a conveyor belt is connected to the lower end of the base plate.

[0013] Preferably, the collection mechanism includes a support frame, which is installed on one side of the upper part of the inner wall of the box. A placement opening is provided at the upper part of the box corresponding to the support frame, and a picking box is connected inside the support frame.

[0014] After harvesting, the fruits and vegetables are placed into the harvesting box through the placement opening for temporary storage. The harvesting box can be removed and replaced at any time, realizing continuous harvesting and collection, reducing manual assistance, and improving the continuity of harvesting operations.

[0015] Preferably, the crossbars of the two sets of quick-release mechanisms are respectively installed on both sides of the box body, the cross-sectional shape of the connecting plate is inverted L-shaped, the overall shape of the support block is U-shaped, and the outer wall of the arc segment of the support block is provided with multiple support rods, the lower ends of the multiple support rods are connected to the upper end of the connecting plate;

[0016] The U-shaped support block facilitates the smooth sliding of the quick-connect plug of the clamp into the snap-fit ​​groove; the support rod strengthens the support block, ensuring that the clamp is placed stably and does not shift or deform under the vibration of the equipment.

[0017] Preferably, a housing is connected to the lower middle part of the connecting plate, and two drive motors are arranged on both sides of the lower end of the inner wall of the housing. The output ends of the two drive motors extend through to the top of the connecting plate, and turntables are connected to the output ends of the two drive motors. Adjusting rods are connected to the upper middle part of the two turntables, and one end of the two adjusting rods is connected to one side of the clamping block. The two clamping blocks are respectively arranged on one side of the two support blocks, and the cross-sectional shape of the clamping blocks is inverted L-shaped.

[0018] The drive motor drives the clamping block to move back and forth through the turntable and adjusting rod, thereby locking and releasing the clamp. The housing protects the drive motor and prevents soil, water droplets or fruit residue from entering the motor and causing damage.

[0019] Preferably, the multiple quick-connect plugs are respectively engaged in the engagement slots of the corresponding support blocks, and the clamping blocks press the corresponding quick-connect plugs into the engagement slots under the drive of the drive motor.

[0020] Preferably, when the quick-connect end is mated and locked with the corresponding quick-connect plug, the second mating electrical block and the corresponding first mating electrical block are in contact to achieve electrical conduction.

[0021] Preferably, the purging mechanism includes a frame, with the upper ends of the frames of the two sets of purging mechanisms respectively installed to the lower ends of two crossbars. A connecting pad is provided at the lower end of the inner wall of the frame. Air nozzles are connected to two placement slots on one side of the frame. A connecting pipe is connected to the middle of one side of the two air nozzles. One end of the two connecting pipes passes through the frame and the crossbar in sequence and extends to the top of the crossbar. An air supply pipe is provided at the upper end of the two connecting pipes. The air supply pipe is in the shape of an inverted U. An air inlet pipe is connected to one side of the air supply pipe and extends through the inside of the box.

[0022] The air supply equipment inside the box generates compressed air, which is delivered to the air blowing nozzle through the air inlet pipe, air outlet pipe and connecting pipe. The nozzle blows the clamps in the storage state, blowing off the juice and residue adhering to the surface of the clamps and collecting them on the connecting pad. This blowing operation is automatically performed after the clamps are put back, which helps to reduce the accumulation and drying of juice on the surface of the clamps and plays a positive role in reducing the risk of cross-contamination between different varieties.

[0023] Preferably, the visual recognition device is installed on one outer wall of the box, and a connecting base is connected to the middle of the upper end of the box. The intelligent robotic arm is fixedly connected to the box through the connecting base.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] This invention features two sets of quick-release mechanisms on both sides of the housing, with a total of four placement slots. Each slot contains four different harvesting clamps: a two-jaw shearing clamp, a hand-shaped clamp, a three-jaw clamp, and a four-jaw clamp. These clamps are suitable for the harvesting needs of different fruit and vegetable varieties. Growers can flexibly configure the clamp type according to the actual varieties they grow. A single device can meet the harvesting needs of multiple fruits and vegetables, eliminating the need to purchase separate harvesting equipment for each variety. This reduces equipment investment costs and improves the versatility and utilization of the equipment.

[0026] This invention achieves rapid and automatic fixture replacement through the cooperation of a quick-release mechanism and a quick-connect end. The quick-connect end and the fixture's quick-connect plug employ a detachable docking and locking method. During replacement, the robotic arm moves the quick-connect end to place the current fixture into the placement slot, then moves it to the target fixture and docks and locks it with the quick-connect plug to complete the switch. The entire process requires no manual disassembly or assembly, shortening changeover time. Simultaneously, a first mating electrical block is located on one side of the quick-connect plug, and a second mating electrical block is located on one side of the quick-connect end. When docking and locking, the two electrical blocks simultaneously engage to conduct the circuit, automatically supplying power to the fixture and improving the safety and reliability of the equipment.

[0027] The present invention has a blowing mechanism below both sets of quick-release mechanisms. Compressed air is blown into the clamp in the placement slot through the air blowing nozzle, which can blow off some of the juice and residue adhering to the surface of the clamps and collect it on the connecting pad. The blowing operation is automatically performed after the clamps are put back, without the need for manual cleaning, which helps to reduce the accumulation and drying of juice on the surface of the clamps. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0029] Figure 2 This is a schematic diagram of the connection structure between the support frame and the picking box of the present invention;

[0030] Figure 3 This is a schematic diagram of the installation structure of the two quick-release mechanisms of the present invention;

[0031] Figure 4 This is a schematic diagram of the installation structure of the support frame of the present invention;

[0032] Figure 5 This is a schematic diagram of the installation structure of the gas transmission pipe and connecting pipe of the present invention;

[0033] Figure 6 This is a schematic diagram of the installation structure of the internal connecting pad of the frame of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure for opening the placement slot of the present invention;

[0035] Figure 8 This is a schematic diagram of the installation structure of the air-blowing nozzle on the quick-release mechanism of the present invention.

[0036] In the diagram: 1. Box body; 2. Base plate; 3. Conveyor belt; 4. Vision recognition equipment; 5. Placement opening; 6. Placing rack; 7. Picking box; 8. Connecting base; 9. Intelligent robotic arm; 10. Quick connector; 11. Crossbar; 12. Connecting plate; 13. Placement slot; 14. Placing block; 15. Support rod; 16. Snap-fit ​​slot; 17. Housing; 18. Drive motor; 19. Turntable; 20. Adjusting rod; 21. Clamping block; 22. Two-jaw shearing clamp; 23. Hand-shaped clamp; 24. Three-jaw clamp; 25. Four-jaw clamp; 26. Quick connector; 27. First mating electrical connector block; 28. Frame; 29. ​​Connecting pad; 30. Air supply pipe; 31. Connecting pipe; 32. Air nozzle; 33. Air inlet pipe; 34. Second mating electrical connector block. Detailed Implementation

[0037] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0039] like Figures 1-8 The illustrated fruit and vegetable harvesting device based on artificial intelligence vision includes a box 1, a drive mechanism connected to the lower end of the box 1, a visual recognition device 4 and an intelligent robotic arm 9 installed on the box 1, a collection mechanism installed on one side of the upper end of the box 1, and a quick-connect end 10 installed at one end of the intelligent robotic arm 9.

[0040] The drive mechanism is used to enable the equipment to move and walk in the orchard or greenhouse, and the visual recognition device 4 is used to collect image information of fruits and vegetables in the working area;

[0041] Two quick-release mechanisms are provided on both sides of the housing 1, and the two quick-release mechanisms are used to hold different clamps;

[0042] The quick-release mechanism includes a crossbar 11, a connecting plate 12 connected to one side of the crossbar 11, two placement slots 13 opened at the upper end of the connecting plate 12, and the two quick-release mechanisms have four placement slots 13. A support block 14 is provided above the connecting plate 12 corresponding to the placement slot 13. A snap-fit ​​groove 16 is opened in the middle of one side of the support block 14, and a clamping block 21 is provided on one side of the two support blocks 14.

[0043] The lower end of the quick-connect terminal 10 is provided with a two-jaw shearing clamp 22. In one quick-release mechanism, a three-jaw clamp 24 and a four-jaw clamp 25 are respectively placed in the two placement slots 13. In the other quick-release mechanism, a hand-shaped clamp 23 is placed in one of the placement slots 13. The other placement slot 13 is an empty slot, which is used for the quick-connect terminal 10 to be removed and the two-jaw shearing clamp 22 is placed.

[0044] The two-jaw shearing clamp 22, the hand-shaped clamp 23, the three-jaw clamp 24 and the four-jaw clamp 25 are all equipped with quick-connect plugs 26 at their upper ends. Each quick-connect plug 26 is equipped with a first mating contact block 27 on one side, and a second mating contact block 34 is equipped on one side of the quick-connect end 10.

[0045] Both crossbars 11 are equipped with a purging mechanism at their lower ends;

[0046] The intelligent robotic arm 9 is a multi-degree-of-freedom articulated robotic arm. Its end cap 10 is used to quickly connect and disconnect with different picking clamps. The end cap 10 adopts an electromagnetically driven steel ball locking structure. When the end cap 10 is fitted into the quick connector 26 at the upper end of the clamp, the steel ball retracts radially and gets into the annular groove of the quick connector 26 to achieve mechanical locking. When separation is required, the steel ball opens radially, and the end cap 10 disengages from the quick connector 26.

[0047] The collection mechanism is used to collect the harvested fruits and vegetables in a unified manner for easy subsequent transportation. The quick-release mechanism is set on both sides of the box 1 to store different varieties of harvesting clamps. The clamping block 21 is used to press and fix the quick connector 26 into the snap-fit ​​groove 16 to prevent the clamps from shaking or falling off during equipment movement.

[0048] The two-jaw shearing clamp 22 has blades at the ends of its two jaws, which are used to pick fruit by gripping and cutting the fruit stem with two fingers. The three-jaw clamp 24 picks round fruits by wrapping them in the center with three fingers. The four-jaw clamp 25 picks larger round fruits by surrounding them with four fingers. The hand-shaped clamp 23 picks fruits with easily damaged skin by biomimetic contact. The quick-connect plug 26 at the top of each clamp not only serves as a mechanical connection, but also has a first mating electrical block 27 on its side as the power input terminal and a second mating electrical block 34 on the side of the quick-connect end 10 as the power output terminal. When the quick-connect end 10 and the quick-connect plug 26 are mated and locked, the first mating electrical block 27 and the second mating electrical block 34 fit together to achieve electrical conduction, supplying power to the motor or sensor inside the clamp, ensuring that the clamp can be powered on and work immediately after replacement.

[0049] like Figure 1 As shown: The drive mechanism includes a base plate 2, which is installed below the housing 1, and a conveyor belt 3 is connected to the lower end of the base plate 2;

[0050] The conveyor track 3 is located below the base plate 2 and is driven by the built-in conveyor motor, enabling the equipment to move autonomously in the field or greenhouse.

[0051] like Figures 1-4 As shown: The collection mechanism includes a support frame 6, which is installed on one side of the upper end of the inner wall of the box 1. A placement opening 5 is provided at the upper end of the box 1 corresponding to the support frame 6, and a picking box 7 is connected inside the support frame 6.

[0052] The support rack 6 is used to support the picking box 7, which is placed inside the support rack 6 for temporary storage of the picked fruits and vegetables.

[0053] like Figures 3-6 As shown: The crossbars 11 of the two quick-release mechanisms are respectively installed on both sides of the box 1. The cross-sectional shape of the connecting plate 12 is an inverted L shape. The overall shape of the support block 14 is U-shaped. Multiple support rods 15 are provided on the outer wall of the arc segment of the support block 14. The lower ends of the multiple support rods 15 are connected to the upper end of the connecting plate 12.

[0054] The support block 14 is U-shaped with its U-shaped opening facing one side. It is used to support the clamp and allow the quick connector 26 to be smoothly inserted into the snap-fit ​​groove 16. The support rod 15 ensures that the support block 14 remains stable when subjected to the weight of the clamp and the vibration of the equipment, and will not shift or deform. When the clamp is placed in the placement groove 13, the quick connector 26 of the clamp slides along the U-shaped inner wall of the support block 14 and finally snaps into the snap-fit ​​groove 16, achieving initial positioning.

[0055] like Figure 7As shown: A housing 17 is connected to the lower middle part of the connecting plate 12. Two drive motors 18 are arranged on both sides of the lower end of the inner wall of the housing 17. The output ends of the two drive motors 18 extend through to the top of the connecting plate 12. The output ends of the two drive motors 18 are connected to turntables 19. Adjusting rods 20 are connected to the upper middle part of the two turntables 19. One end of the two adjusting rods 20 is connected to one side of the clamping block 21. The two clamping blocks 21 are respectively arranged on one side of the two supporting blocks 14. The cross-sectional shape of the clamping block 21 is an inverted L shape.

[0056] The housing 17 protects the drive motor 18. When the drive motor 18 is working, its output end drives the turntable 19 to rotate. The turntable 19 drives the adjusting rod 20 to swing. The adjusting rod 20 then pushes the clamping block 21 to move closer to or further away from the snap-fit ​​slot 16. When the fixture needs to be stored, the drive motor 18 is started, driving the turntable 19 and the adjusting rod 20 to rotate, so that the clamping block 21 moves away from the snap-fit ​​slot 16. At this time, the quick connector 26 can freely enter and exit the snap-fit ​​slot 16. After the fixture is placed in place, the drive motor 18 is started in reverse, and the clamping block 21 moves towards the snap-fit ​​slot 16, pressing and fixing the quick connector 26 to achieve reliable storage of the fixture.

[0057] Multiple quick-connect plugs 26 are respectively locked in the corresponding slots 16 of the support block 14, and the clamping block 21 presses the corresponding quick-connect plugs 26 into the slots 16 under the drive of the drive motor 18.

[0058] When the clamp is placed in the placement slot 13, the robotic arm pushes the quick connector 26 into the snap-fit ​​slot 16 of the support block 14, achieving the initial positioning of the clamp on the quick-release mechanism. Then, the drive motor 18 starts, driving the turntable 19, the adjusting rod 20 and the clamping block 21 to move towards the snap-fit ​​slot 16. The clamping block 21 presses against one side and the upper end of the quick connector 26, firmly pressing it against the inside of the snap-fit ​​slot 16, ensuring that the clamp will not come out of the placement slot 13 under the vibration environment during the movement and operation of the equipment.

[0059] like Figure 1 and Figure 2 As shown: When the quick connector 10 is mated and locked with the corresponding quick connector 26, the second mating electrical block 34 and the corresponding first mating electrical block 27 are in contact to achieve electrical conduction;

[0060] The first mating contact block 27 is located on the side of the quick connector 26 and has a flexible contact or metal contact plate structure. It is electrically connected to the motor, sensor and other electrical components inside the fixture. The second mating contact block 34 is located on the side of the quick connector end 10 and has a corresponding flexible probe or metal contact plate structure. It is electrically connected to the main power supply of the equipment. When the quick connector end 10 is separated from the quick connector 26, the first mating contact block 27 and the second mating contact block 34 are de-energized to ensure operational safety.

[0061] When the quick connector 10 is inserted into the quick connector 26 and locked, the contact surfaces of the first mating contact block 27 and the second mating contact block 34 are tightly fitted, realizing the physical conduction of the circuit. The power of the main power supply of the equipment is transmitted to the motor or sensor inside the fixture through the second mating contact block 34 and the first mating contact block 27, so that the fixture is powered and works.

[0062] like Figures 5-8 As shown: The purging mechanism includes a frame 28. The upper ends of the frames 28 of the two purging mechanisms are respectively installed to the lower ends of the two crossbars 11. A connecting pad 29 is provided at the lower end of the inner wall of the frame 28. Air blowing nozzles 32 are connected to the two placement slots 13 on one side of the frame 28. A connecting pipe 31 is connected to the middle of one side of the two air blowing nozzles 32. One end of the two connecting pipes 31 passes through the frame 28 and the crossbar 11 in sequence and extends to the top of the crossbar 11. An air supply pipe 30 is provided at the upper end of the two connecting pipes 31. The air supply pipe 30 is in the shape of an inverted U. An air inlet pipe 33 is connected to one side of the air supply pipe 30. The air inlet pipe 33 extends through and into the interior of the box 1.

[0063] The connecting pad 29 is used to receive the juice and residue blown off the clamp. The air blowing nozzle 32 is installed at an angle on one side of the frame 28, with its nozzle tilted downward toward the gripper of the clamp in the placement slot 13. It is used to blow compressed air into the clamp to blow the juice and residue adhering to the surface of the gripper onto the connecting pad 29 below. The connecting pipe 31 connects the air blowing nozzle 32 and the air supply pipe 30, and plays the role of airflow transportation.

[0064] The output end of the air supply equipment is connected to the air inlet pipe 33 of the two-sided purging mechanism to provide compressed air source for the purging mechanism.

[0065] The visual recognition device 4 is installed on one side of the outer wall of the housing 1. The upper middle part of the housing 1 is connected to the connecting base 8. The intelligent robotic arm 9 is fixedly connected to the housing 1 through the connecting base 8.

[0066] The visual recognition device 4 facilitates the identification and positioning of target fruits and vegetables in advance during the movement of the equipment, and the connecting base 8 provides a stable installation foundation for the intelligent robotic arm 9, ensuring the rigidity and stability of the robotic arm during high-speed movement and heavy-duty operations.

[0067] It should be noted that the specific circuit connections, signal transmission, and control methods of the actuators and control elements involved in the embodiments of the present invention, such as the drive motor 18, visual recognition device 4, intelligent robotic arm 9, air supply device, quick-connect end 10, and quick-connect plug 26, are all conventional technical means in the art and fall within the scope of existing technology. Those skilled in the art can select appropriate component models according to actual harvesting needs and connect them according to conventional circuit design and air path arrangement; their specific working principles will not be elaborated here. The specific clamping contours and dimensions of each clamp can be adaptively adjusted according to the physical characteristics of different fruit and vegetable varieties, which is also a conventional design choice in the art.

[0068] Working principle: When in use, the drive mechanism connected to the lower end of the box 1 first drives the equipment to move and walk in the orchard or greenhouse. The visual recognition device 4 installed on the outer wall of one side of the box 1 collects the image information of fruits and vegetables in the working area in real time, and determines the variety and spatial position of fruits and vegetables through the built-in image recognition algorithm. Based on the identified fruit and vegetable varieties, the equipment determines whether the picking clamp currently installed at the lower end of the quick-connect end 10 of the intelligent robotic arm 9 matches the target fruit and vegetable variety.

[0069] If the current clamp matches the target fruit and vegetable variety, the intelligent robotic arm 9 directly drives the quick-connect end 10 and the clamp to move to the target fruit position, completes the grasping, separation and harvesting actions, and the harvested fruits and vegetables are placed into the picking box 7 through the collection mechanism set on one side of the upper end of the box 1.

[0070] If the current clamp does not match the target fruit and vegetable variety, the clamp is replaced. The intelligent robotic arm 9 moves the quick-connect end 10 and the current clamp to the corresponding quick-release mechanism, pushes the quick-connect plug 26 of the target clamp into the slot 16 of the support block 14, and drives the turntable 19 and the adjusting rod 20 to rotate, so that the clamping block 21 moves towards the slot 16, pressing the quick-connect plug 26 against the inside of the slot 16, thus completing the storage and fixing of the clamp.

[0071] Then, the intelligent robotic arm 9 moves the quick-connect end 10 to the target clamp. The quick-connect end 10 is connected and locked with the quick-connect plug 26 of the target clamp. At the same time, the second mating electrical block 34 and the first mating electrical block 27 are attached to achieve circuit conduction and power supply to the clamp. The intelligent robotic arm 9 drives the new clamp to carry out the harvesting operation.

[0072] While each clamp is stored on the quick-release mechanism, the air supply equipment inside the housing 1 generates compressed air, which is sent to the air delivery pipe 30 through the air inlet pipe 33, and then distributed to each air blowing nozzle 32 through the connecting pipe 31. The air blowing nozzle 32 is installed at an angle, with its nozzle tilted downwards towards the gripper of the clamp in the placement slot 13. The compressed air blows the fruit and vegetable juices and residues adhering to the surface of the gripper along the tilt direction onto the connecting pad 29 below, where they are collected. The blowing operation is automatically performed after each clamp is put back, keeping the clamp clean and preventing residues from drying and affecting the flexibility of the gripper or causing cross-contamination between varieties. The connecting pad 29 can be removed for cleaning or replacement periodically.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A fruit and vegetable harvesting device based on artificial intelligence vision, comprising a housing (1), characterized in that, The lower end of the box (1) is connected to a drive mechanism. The box (1) is equipped with a visual recognition device (4) and an intelligent robotic arm (9). A collection mechanism is provided on one side of the upper end of the box (1). One end of the intelligent robotic arm (9) is equipped with a quick-connect end (10). Two quick-release mechanisms are provided on both sides of the box (1), and the two quick-release mechanisms are used to place different clamps; The quick-release mechanism includes a crossbar (11), a connecting plate (12) is connected to one side of the crossbar (11), two placement slots (13) are opened at the upper end of the connecting plate (12), the number of placement slots (13) of the two sets of quick-release mechanisms is four, a support block (14) is provided above the connecting plate (12) corresponding to the placement slot (13), a snap-fit ​​groove (16) is opened in the middle of one side of the support block (14), and a clamping block (21) is provided on one side of the two support blocks (14). The quick-connect end (10) is provided with a two-jaw shearing clamp (22) at its lower end. A three-jaw clamp (24) and a four-jaw clamp (25) are respectively placed in the two placement slots (13) of one of the quick-release mechanisms. A hand-shaped clamp (23) is placed in one of the placement slots (13) of the other quick-release mechanism. The other placement slot (13) is an empty slot for the quick-connect end (10) to be removed and for the two-jaw shearing clamp (22) to be placed. The two-jaw shearing clamp (22), the hand-shaped clamp (23), the three-jaw clamp (24) and the four-jaw clamp (25) are all provided with quick-connect plugs (26) at their upper ends. Each of the quick-connect plugs (26) is provided with a first mating contact block (27) on one side, and a second mating contact block (34) is provided on one side of the quick-connect end (10). Both of the crossbars (11) are equipped with a purging mechanism at their lower ends.

2. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The drive mechanism includes a base plate (2), which is installed below the housing (1), and a conveyor belt (3) is connected to the lower end of the base plate (2).

3. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The collection mechanism includes a support frame (6), which is installed on one side of the upper part of the inner wall of the box (1). A placement opening (5) is provided at the upper part of the box (1) corresponding to the support frame (6), and a picking box (7) is connected inside the support frame (6).

4. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The crossbars (11) of the two sets of quick-release mechanisms are respectively installed on both sides of the box (1). The cross-sectional shape of the connecting plate (12) is inverted L-shaped. The overall shape of the support block (14) is U-shaped. Multiple support rods (15) are provided on the outer wall of the arc segment of the support block (14). The lower ends of the multiple support rods (15) are connected to the upper end of the connecting plate (12).

5. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The lower middle part of the connecting plate (12) is connected to the housing (17). Two drive motors (18) are provided on both sides of the lower end of the inner wall of the housing (17). The output ends of the two drive motors (18) extend through to the top of the connecting plate (12). The output ends of the two drive motors (18) are connected to the turntable (19). The upper middle part of the two turntables (19) is connected to the adjusting rod (20). One end of the two adjusting rods (20) is connected to one side of the clamping block (21). The two clamping blocks (21) are respectively set on one side of the two supporting blocks (14). The cross-sectional shape of the clamping block (21) is an inverted L shape.

6. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 5, characterized in that, Multiple quick-connect plugs (26) are respectively locked in the locking slots (16) of the corresponding support block (14), and the clamping block (21) presses the corresponding quick-connect plugs (26) into the locking slots (16) under the drive of the drive motor (18).

7. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, When the quick-connect end (10) is mated and locked with the corresponding quick-connect plug (26), the second mating electrical block (34) and the corresponding first mating electrical block (27) are in contact to achieve electrical conduction.

8. The fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The purging mechanism includes a frame (28). The upper ends of the frames (28) of the two sets of purging mechanisms are respectively installed to the lower ends of two crossbars (11). A connecting pad (29) is provided at the lower end of the inner wall of the frame (28). Air nozzles (32) are connected to two placement slots (13) on one side of the frame (28). A connecting pipe (31) is connected to the middle of one side of the two air nozzles (32). One end of the two connecting pipes (31) passes through the frame (28) and the crossbar (11) in sequence and extends to the top of the crossbar (11). An air supply pipe (30) is provided at the upper end of the two connecting pipes (31). The air supply pipe (30) is in the shape of an inverted U. An air inlet pipe (33) is connected to one side of the air supply pipe (30). The air inlet pipe (33) extends through and into the interior of the box (1).

9. A fruit and vegetable harvesting device based on artificial intelligence vision according to claim 1, characterized in that, The visual recognition device (4) is installed on one side of the outer wall of the box (1). The upper middle part of the box (1) is connected to the connecting base (8). The intelligent robotic arm (9) is fixedly connected to the box (1) through the connecting base (8).

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