Machine vision-based apple precise picking device

Abstract

The present application is suitable for the apple picking technical field, and provides an apple precise picking equipment based on machine vision, which comprises a picking moving mechanism and an apple capacity storage mechanism, the apple capacity storage mechanism is fixedly connected to the inner side of the picking moving mechanism, the front end of the apple capacity storage mechanism is provided with a position rotating mechanism, and the upper end of the position rotating mechanism is provided with a picking displacement mechanism. The present application integrates the base rotating, up-down and left-right screw displacement, front end telescopic rotating clamping jaw structure and the machine vision positioning component, can flexibly adjust the picking position in all directions, effectively avoids the whole height of the picking equipment being fixed and unable to be adjusted at multiple angles, makes it difficult to pick the apples with different heights or hidden in the branch leaf gap, relies on the visual automatic identification of the fruit position during picking, significantly improves the picking adaptability and the precise picking efficiency, and when the storage capacity reaches the set weight, can effectively prompt the personnel.

Description

Technical Field

[0001] This invention relates to the field of apple harvesting technology, and more specifically, to a machine vision-based precision apple harvesting device. Background Technology

[0002] Apple harvesting, as a core final stage of fruit production, directly determines the fruit's commercial quality, storage period, and economic benefits. Apples have a concentrated ripening period, a short harvesting window, and are characterized by thin skin, abundant juice, and delicate texture, requiring extremely high precision, minimal damage, and timeliness in harvesting. The quality and efficiency of harvesting operations directly impact the rate of good-quality fruit and the orchard's annual yield. Precision apple harvesting equipment can be used for this purpose.

[0003] The existing Chinese patent CN108243721A discloses an apple picking device for fruit processing, including a trolley, etc.; a first sleeve is installed on the top left side of the trolley, a support rod is provided inside the first sleeve, a threaded hole is opened on the upper left side of the first sleeve, a screw is provided in the threaded hole, the right end of the screw contacts the support rod, a picking device is provided on the upper part of the support rod, and a collecting device is provided between the picking device and the right side of the top of the trolley.

[0004] However, during harvesting, the above-mentioned device has a fixed and non-adjustable overall installation height, a single assembly position for the harvesting robotic arm, and lacks a multi-angle displacement adjustment structure. Due to limitations such as the height difference of the fruit trees, the different orientations of the fruit branches, and the eccentric hanging of the fruit, it is impossible to aim at apples hidden in the gaps between branches and leaves at different heights from multiple directions. The fruit collection box that comes with the equipment only has a storage function and no storage monitoring and reminder structure. When the apples inside the collection box are full, it cannot promptly provide feedback to the staff. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a machine vision-based apple precision picking device that can rotate at multiple angles to pick apples, and can effectively alert personnel when the stored amount reaches a set weight.

[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0007] This invention relates to a machine vision-based precision apple harvesting device, comprising a harvesting moving mechanism and an apple capacity storage mechanism. The apple capacity storage mechanism is fixedly connected to the inner side of the harvesting moving mechanism. A position rotation mechanism is installed at the front end of the apple capacity storage mechanism on the harvesting moving mechanism. A harvesting displacement mechanism is installed at the upper end of the position rotation mechanism. A rotating telescopic harvesting mechanism is installed at the outer end of the harvesting displacement mechanism. A machine vision sensing component is installed at the upper end of the rotating telescopic harvesting mechanism. A harvesting gripper mechanism is installed at the outer end of the rotating telescopic harvesting mechanism. An opening and closing door mechanism is installed at the outer end of the apple capacity storage mechanism.

[0008] The apple storage mechanism includes an apple storage box. A feeding hopper is fixed to the outside of the right-end inlet of the apple storage box. A limiting sleeve is fixed to the middle of the bottom inside the apple storage box. An anti-spring is welded to the bottom inside the limiting sleeve. A positioning movable rod that fits inside the limiting sleeve is welded to the upper end of the anti-spring. A movable support plate is glued to the upper end of the positioning movable rod with epoxy resin. An infrared sensor is installed on the outside of the limiting sleeve at the bottom inside the apple storage box.

[0009] As a preferred technical solution of the machine vision-based apple precision picking device of the present invention, the picking moving mechanism includes an L-shaped platform, an apple storage box welded to the inner side of the L-shaped platform, a push handle welded to the upper rear end of the L-shaped platform, and swivel casters welded to the four corners at the lower end of the L-shaped platform.

[0010] As a preferred technical solution of the machine vision-based apple precision harvesting equipment of the present invention, the position rotation mechanism includes a front housing. A maintenance door is hinged and installed at the front end slot of the front housing. A PLC panel is screwed onto the front end of the front housing. Heat dissipation panels are screwed onto the inner sides of both ends of the front housing. A geared motor is screwed onto the inner side of the left end of the front housing. A first coupling is fixed to the output shaft of the geared motor. A connecting shaft is fixed to the upper end of the first coupling. A rotating end plate is welded to the upper end of the connecting shaft. An audible and visual alarm is screwed onto the upper left side of the front housing. The audible and visual alarm and the geared motor are electrically connected to the PLC panel via connecting wires. A battery is also installed inside the front housing and is electrically connected to the PLC panel via connecting wires.

[0011] As a preferred technical solution of the machine vision-based apple precision picking equipment of the present invention, the picking displacement mechanism includes upper and lower lead screw motors. Upper and lower lead screw bodies are welded to the upper ends of the upper and lower lead screw bodies. The upper and lower lead screw motors are mounted on the upper ends of the upper and lower lead screw bodies by screws. The output shafts of the upper and lower lead screw motors are connected to the lead screws inside the upper and lower lead screw bodies via couplings. Upper and lower lead screw sliders are mounted on the outer ends of the upper and lower lead screw bodies. The upper and lower lead screw sliders are threadedly connected to the lead screws inside the upper and lower lead screw bodies. Left and right lead screw bodies are mounted on the front ends of the upper and lower lead screw sliders by screws. Left and right lead screw motors are mounted on the outer ends of the left and right lead screw bodies by screws. The left and right lead screw motors are connected to the lead screws inside the left and right lead screw bodies via couplings. Left and right lead screw sliders are mounted on the outer ends of the left and right lead screw bodies. The left and right lead screw sliders are connected to the lead screws inside the left and right lead screw bodies. The upper and lower lead screw motors and the left and right lead screw motors are electrically connected to a PLC panel via connecting wires.

[0012] As a preferred technical solution of the machine vision-based apple precision picking equipment of the present invention, the rotating telescopic picking mechanism includes a cylinder mounting plate, a first electric telescopic cylinder is welded to the middle of the outer end of the cylinder mounting plate, a motor mounting plate is welded to the telescopic rod end of the first electric telescopic cylinder, a reducer is mounted on the front end of the motor mounting plate by screws, a rotary motor is mounted on the upper end of the reducer by screws, a rotating mounting plate is welded to the output shaft end of the reducer, and a picking component is mounted on the outer end of the rotating mounting plate.

[0013] As a preferred technical solution of a machine vision-based apple precision picking device of the present invention, the picking component includes a screw assembly plate, which is mounted on a rotating mounting plate by screws. A second electric telescopic cylinder is welded to the middle of the other end of the screw assembly plate. Three concave panels arranged in a circular array are welded to the circumference of the cylinder body of the second electric telescopic cylinder. The outer ends of the three concave panels are movably mounted with gripper panels by pins. Gripper rubber pads are glued to the inner sides of the three gripper panels with epoxy resin. An assembly end plate is threaded onto the circumference of the telescopic rod of the second electric telescopic cylinder. The assembly end plate is clamped to the telescopic rod end of the second electric telescopic cylinder by upper and lower clamping nuts. Three concave connecting blocks arranged in a circular array are welded to the outer ends of the assembly end plate. The concave connecting blocks are movably mounted on the lower convex part of the gripper panel by pins.

[0014] As a preferred technical solution of the machine vision-based apple precision picking equipment of the present invention, the machine vision sensing component includes a connecting end column, which is installed on the cylinder body of the first electric telescopic cylinder by screws. A supporting column is welded to the upper end of the connecting end column, and a top end block is welded to the upper end of the supporting column. A vision component is installed on the outer end of the top end block by screws. The vision component is electrically connected to the PLC panel through a connecting wire.

[0015] As a preferred technical solution of the machine vision-based apple precision picking device of the present invention, the vision component includes a depth vision camera, an intelligent supplementary lighting module, and an image acquisition and transmission module.

[0016] As a preferred technical solution of the machine vision-based apple precision picking equipment of the present invention, the opening and closing box door mechanism includes a box door shell, two box door hinges are movably installed on both sides of the lower end of the box door shell, the box door shell is movably installed on the L-shaped vehicle plate through the box door hinges, a box door handle is welded to the outer wall of the box door shell, a lifting crossbar is installed on the upper part of the box door shell, L-shaped inserts are welded to both ends of the lifting crossbar, concave inserts are sleeved on the lower periphery of the two L-shaped inserts, a pull spring is welded between the concave inserts and the L-shaped inserts, the two concave inserts are installed on the outer wall of the apple storage box by screws, and the box door shell is blocked and closed at the right end slot of the apple storage box by the L-shaped inserts.

[0017] As a preferred technical solution of the machine vision-based apple precision picking device of the present invention, the upper and lower lead screw motors are mounted on the rotating end plate by screws, and a rubber pad is provided at the connection between the upper and lower lead screw motors and the rotating end plate.

[0018] The advantages of this invention are:

[0019] 1. This invention integrates a base rotation, up-down and left-right lead screw displacement, and a front telescopic rotating gripper structure, along with a machine vision positioning component. It can flexibly adjust the picking position in all directions, effectively avoiding situations where the overall height of the picking equipment is fixed and cannot be adjusted at multiple angles, making it difficult to pick apples of different heights or hidden in the gaps between branches and leaves. During picking, it relies on vision to automatically identify the position of the fruit, significantly improving the picking adaptability and precise picking efficiency.

[0020] 2. This invention uses a spring-loaded buffer support plate and an infrared sensor detection structure inside the apple storage box to cushion and reduce the impact of falling apples. When the apples in the storage box reach the harvest weight, an audible and visual alarm is automatically triggered, preventing the fruit from overflowing from the source and facilitating timely transfer and harvesting by staff.

[0021] 3. This invention achieves flexible clamping by attaching rubber pads to the inside of the grippers to prevent damage to the fruit peel. The box body adopts a spring self-locking door, so the door will not be opened accidentally and the fruit will fall during transportation. The whole machine is equipped with a universal trolley, which makes it easy to move in orchards and fields, and is suitable for harvesting operations in various orchard terrains. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the assembled three-dimensional structure of an apple precision picking device based on machine vision according to the present invention.

[0023] Figure 2 This is a schematic diagram of the combined structure of the rotary telescopic picking mechanism, machine vision sensing component, and picking gripper mechanism of the present invention.

[0024] Figure 3 This is a schematic diagram of the combined structure of the rotary telescopic picking mechanism and the picking gripper mechanism of the present invention.

[0025] Figure 4 This is a schematic diagram of the combined structure of the position rotation mechanism, the rotation telescopic picking mechanism, the machine vision sensing component, and the picking displacement mechanism of the present invention.

[0026] Figure 5 This is a cross-sectional schematic diagram of the position rotation mechanism of the present invention.

[0027] Figure 6 This is a schematic diagram of the apple capacity storage mechanism and the opening and closing door mechanism of the present invention.

[0028] Figure 7 This is a schematic diagram of the opening and closing door mechanism of the present invention.

[0029] Figure 8 This is a cross-sectional schematic diagram of the apple capacity storage mechanism of the present invention.

[0030] In the attached diagram: 1. Apple storage box; 11. L-shaped platform; 12. Rotating caster wheel; 13. Push handle; 14. Feed hopper; 15. Limit sleeve; 16. Infrared sensor; 17. Positioning rod; 18. Movable support plate; 19. Contact spring; 2. Front casing; 21. Inspection door; 22. Heat dissipation panel; 23. Rotating end plate; 24. Connecting shaft; 25. First coupling; 26. Gear motor; 27. Audible and visual alarm; 3. PLC panel; 4. Upper and lower lead screw body; 41. Upper and lower lead screw motor; 42. Upper and lower lead screw slider; 5. Left and right lead screw body; 51. Left and right lead screw slider; 52. Left and right lead screws 6. Electric motor; 7. First electric telescopic cylinder; 61. Cylinder mounting plate; 62. Motor mounting square plate; 7. Gripper rubber pad; 71. Second electric telescopic cylinder; 72. Gripper panel; 73. Screw assembly plate; 74. Concave panel; 75. Assembly end plate; 76. Clamping nut; 77. Concave connecting block; 8. Rotary motor; 81. Reducer; 82. Rotary mounting plate; 9. Vision assembly; 91. Connecting end post; 92. Top end block; 93. Support column; 10. Door shell; 101. Door handle; 102. Door hinge; 103. Concave insert plate; 104. Lifting crossbar; 105. Pull-back spring; 106. L-shaped insert plate. Detailed Implementation

[0031] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0032] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] Example 1:

[0035] Please see Figures 1-8 Structural diagram; the present invention provides the following technical solution:

[0036] Specifically, this refers to a machine vision-based precision apple harvesting device, including a harvesting and moving mechanism, an apple capacity storage mechanism, a position rotation mechanism, a harvesting displacement mechanism, a rotating and telescopic harvesting mechanism, a machine vision sensing component, a harvesting gripper mechanism, and an opening and closing door mechanism. The apple capacity storage mechanism is fixedly mounted inside the harvesting and moving mechanism to centrally collect harvested apples. The harvesting and moving mechanism allows for flexible overall transport of the equipment, adaptable to harvesting operations in multiple areas of the orchard. The position rotation mechanism is mounted at the front of the apple capacity storage mechanism, enabling overall angle rotation adjustment of the harvesting mechanism. A harvesting displacement mechanism is mounted on top of the position rotation mechanism, allowing for multi-dimensional vertical and horizontal displacement adjustment of the harvesting mechanism. A rotating and telescopic harvesting mechanism is installed at the outer end of the harvesting displacement mechanism, working in conjunction with the end-feature harvesting gripper mechanism to perform apple clamping and harvesting operations. A machine vision sensing component is mounted on top of the rotating and telescopic mechanism, relying on machine vision to identify the fruit's position and ripeness for precise harvesting. An opening and closing door mechanism is fitted on the outer side of the apple capacity storage mechanism for convenient fruit loading and unloading and for sealing and protecting the container.

[0037] The harvesting and moving mechanism includes an L-shaped platform 11, which serves as the supporting and moving base for the entire harvesting equipment. An apple storage box 1 is welded and fixed to the inner side of the L-shaped platform 11, ensuring a secure and stable assembly. A push handle 13 is welded to the upper rear end of the L-shaped platform 11, facilitating manual pushing and transporting of the equipment by workers. Four swivel casters 12 are welded and installed at the four corners of the lower end of the L-shaped platform 11. The four-wheel layout of the swivel casters 12 ensures smooth movement and flexible steering, adapting to uneven orchard surfaces.

[0038] The apple storage mechanism includes an apple storage box 1, which serves as the centralized storage base for harvested apples. The hollow interior of the apple storage box 1 effectively stores apples. A feeding hopper 14 is fixedly connected to the outside of the feed inlet on the right side of the apple storage box 1, allowing harvested apples to slide smoothly into the apple storage box 1. A limiting sleeve 15 is fixedly installed at the bottom center of the inside of the apple storage box 1, serving as a vertical limiting and guiding element. A contact spring 19 is welded to the bottom of the limiting sleeve 15, and a positioning rod 17 is welded to the upper end of the contact spring 19. The positioning rod 17 slides vertically inside the limiting sleeve 15. A movable support plate 18 is glued to the upper end of the positioning rod 17 with epoxy resin. After falling into the box, the apples are placed on the movable support plate 18, and the elastic cushioning effect of the contact spring 19 significantly reduces the impact of the falling fruit, effectively preventing damage from bumps and knocks. An infrared sensor 16 is installed on the outside of the limiting sleeve 15 at the bottom of the inside of the apple storage box 1. It can sense the position and height of the movable support plate 18 inside the apple storage box 1 in real time, and then measure the fruit storage capacity above the movable support plate 18 to realize full material detection and early warning.

[0039] Example 2:

[0040] Based on Specific Embodiment 1, the difference in this embodiment is as follows:

[0041] like Figure 1 , Figure 4 and Figure 5As shown, the position rotation mechanism includes a front housing 2, which serves as the protection and mounting base for the geared motor 26. A maintenance door 21 is hinged and mounted at the front end of the front housing 2, facilitating future maintenance and repair of the geared motor 26 inside. A PLC panel 3 is screwed onto the front end of the front housing 2, used for centralized control and parameter adjustment of the electrical components of the entire machine. Heat dissipation panels 22 are fixed to the inner sides of both ends of the front housing 2 with screws, ensuring ventilation and heat dissipation inside the front housing 2 and preventing overheating and damage to the geared motor 26. A geared motor 26 is mounted on the inner left side of the front casing 2 with screws. The geared motor 26 serves as the power source for rotation. A first coupling 25 is fixedly connected to the output shaft of the geared motor 26. A connecting shaft 24 is fixedly connected to the upper end of the first coupling 25, ensuring smooth power transmission. A rotating end plate 23 is welded to the upper end of the connecting shaft 24. The rotation of the geared motor 26, through the first coupling 25 and the connecting shaft 24, drives the rotating end plate 23 to rotate as a whole, thus adjusting the picking angle. An audible and visual alarm 27 is mounted on the upper left side of the front casing 2 with screws. The alarm 27 provides audible and visual warnings in case of equipment malfunction or when the apple storage box 1 is full. Both the audible and visual alarm 27 and the geared motor 26 are electrically connected to the PLC panel 3 via connecting cables, enabling automated start-stop control. A battery is integrated inside the front casing 2 and electrically connected to the PLC panel 3 via connecting cables, providing an independent power supply for the entire machine and eliminating the need for an external power source.

[0042] The harvesting displacement mechanism includes upper and lower lead screw motors 41 and upper and lower lead screw bodies 4. The upper and lower lead screw motors 41 are mounted on the upper end of the upper and lower lead screw bodies 4 via screws. The output shaft of the upper and lower lead screw motors 41 is connected to the internal lead screw of the upper and lower lead screw bodies 4 via a coupling, providing power for vertical displacement. Upper and lower lead screw sliders 42 are mounted on the outer end of the upper and lower lead screw bodies 4. The sliders 42 engage with the internal lead screw threads, and rotation of the lead screw drives the sliders 42 to slide vertically smoothly. Left and right lead screw bodies 5 are fixed to the front ends of the sliders 42 via screws, achieving synchronous vertical lifting. Left and right lead screw motors 52 are mounted on the outer ends of the left and right lead screw bodies 5 via screws. The motors 52 are connected to the internal lead screws of the left and right lead screw bodies 5 via couplings, providing lateral extension and retraction power. Left and right lead screw sliders 51 are mounted on the outer ends of the left and right lead screw bodies 5. The sliders 51 engage with the internal lead screw threads, enabling left and right horizontal displacement adjustment of the harvesting mechanism. The upper and lower lead screw motors 41 and the left and right lead screw motors 52 are all connected to the PLC panel 3 via connecting wires, and the displacement stroke and start and stop actions are uniformly controlled by the control system.

[0043] The upper and lower lead screw motors 41 are fixedly mounted on the upper end face of the rotating end plate 23 by screws, and a buffer rubber pad is provided between the upper and lower lead screw motors 41 and the assembly contact surface of the rotating end plate 23. This can effectively buffer the mechanical vibration generated during the rotation and displacement of the equipment, reduce transmission noise, and effectively improve the operational stability of the equipment.

[0044] Example 3:

[0045] Based on specific embodiment two, the difference in this embodiment is as follows:

[0046] like Figures 1-3 As shown, the rotary telescopic harvesting mechanism includes a cylinder mounting plate 61, which serves as the fixed base for the telescopic harvesting component. A first electric telescopic cylinder 6 is welded to the middle of the outer end of the cylinder mounting plate 61, enabling forward and backward telescopic feeding during harvesting. A motor mounting plate 62 is welded to the telescopic rod end of the first electric telescopic cylinder 6. A reducer 81 is mounted on the front end of the motor mounting plate 62 via screws, serving to reduce speed, increase torque, and ensure smooth transmission. A rotary motor 8 is fixed to the upper end of the reducer 81 via screws, acting as the power source for the rotary harvesting operation. A rotary mounting plate 82 is welded to the output shaft end of the reducer 81, which can drive the entire harvesting component to rotate, enabling multi-angle harvesting alignment.

[0047] The harvesting component includes a screw assembly plate 73, which is fixed to the lower end of the rotating mounting plate 82 by screws. It is easy to disassemble and assemble and facilitates component maintenance and replacement. A second electric telescopic cylinder 71 is welded to the middle of the other end of the screw assembly plate 73. The second electric telescopic cylinder 71 provides telescopic power for the opening and closing of the gripper. The second electric telescopic cylinder 71 has three concave panels 74 arranged in a circular array welded around its cylinder body. Each of the three concave panels 74 has a gripper panel 72 movably mounted on its outer end via a pin, ensuring that the gripper panel 72 can open, close, and rotate flexibly. Each of the three gripper panels 72 has a gripper rubber pad 7 bonded to its inner side with epoxy resin. The flexible rubber material of the gripper rubber pad 7 can buffer the clamping force and prevent rigid compression from damaging the apple peel. An assembly end plate 75 is threaded onto the telescopic rod of the second electric telescopic cylinder 71. The assembly end plate 75 is locked and fixed to the end of the telescopic rod by upper and lower clamping nuts 76, ensuring a secure and stable assembly. Three concave connecting blocks 77 are arranged in a circular array welded around the outer end of the assembly end plate 75. The concave connecting blocks 77 are movably hinged to the lower protrusion of the gripper panel 72 via a pin. When the telescopic rod of the second electric telescopic cylinder 71 extends or retracts, it can synchronously open and close the gripper panel 72, completing the apple clamping and releasing action.

[0048] The machine vision sensing component includes a connecting end post 91, which is fixedly mounted on the cylinder body of the first electric telescopic cylinder 6 with screws. The screw connection is secure and facilitates later disassembly and maintenance. A support column 93 is welded to the upper end of the connecting end post 91, serving as a vertical support and transition. A top end block 92 is welded to the upper end of the support column 93, and a vision component 9 is mounted on the outer end of the top end block 92 with screws. The vision component 9 can acquire fruit tree image information in real time. The vision component 9 is electrically connected to the PLC panel 3 via a connecting cable, transmitting the acquired image data to the control system in real time to complete fruit recognition, positioning, and maturity determination.

[0049] The vision component 9 consists of a depth vision camera, an intelligent supplemental lighting module, and an image acquisition and transmission module. The depth vision camera can accurately acquire the three-dimensional position information of the fruit, ensuring precise positioning. The intelligent supplemental lighting module can automatically supplement light in low light, cloudy, or backlit environments to ensure image clarity. The image acquisition and transmission module is responsible for transmitting image data in real time, providing data support for the intelligent harvesting equipment.

[0050] Example 4:

[0051] Based on specific embodiment two, the difference in this embodiment is as follows:

[0052] like Figure 1 , Figure 6 and Figure 7 As shown, the door opening and closing mechanism includes a door housing 10, which serves as a closed protective component for the outlet of the apple storage box 1. Two sets of door hinges 102 are mounted on both sides of the lower end of the door housing 10. The door housing 10 is movably hinged to the L-shaped car plate 11 through the door hinges 102, and can be freely flipped open and closed. A door handle 101 is welded to the outer wall of the door housing 10 for easy manual opening and closing of the door. A lifting crossbar 104 is provided above the door shell 10. L-shaped inserts 106 are welded to both ends of the lifting crossbar 104. Concave inserts 103 are sleeved on the lower periphery of the two L-shaped inserts 106. A pull-back spring 105 is welded between the concave inserts 103 and the L-shaped inserts 106. The spring force enables the inserts to automatically return to their locked position. The two concave inserts 103 are fixed to the outer wall of the apple storage box 1 with screws. The door shell 10 is closed and locked by the limiting block of the L-shaped inserts 106, which effectively prevents the door shell 10 from being opened accidentally or the fruit from falling out during transportation.

[0053] Working principle: When in use, the operator holds the push handle 13 and pushes the equipment to the orchard picking area by rotating the bottom casters 12. The equipment is powered independently by the internal battery and the parameters of the whole machine are adjusted through the PLC panel 3.

[0054] During operation, the depth vision camera of vision component 9, in conjunction with the intelligent supplementary lighting module, captures images of the fruit trees in real time, accurately identifies the position and coordinates of ripe apples, and transmits the data to PLC panel 3. Based on the visual data, the control system of PLC panel 3 starts the geared motor 26 of the position rotation mechanism, drives the rotating end plate 23 to rotate, adjusts the horizontal angle of the picking mechanism, and then controls the operation of the upper and lower lead screw motors 41 and the left and right lead screw motors 52, which drive the sliders of the upper and lower lead screw motors 41 and the left and right lead screw motors 52 to slide, accurately adjusting the vertical and horizontal position of the picking mechanism so that the picking component is aligned with the apple to be picked.

[0055] During harvesting, the first electric telescopic cylinder 6 extends, pushing the harvesting component closer to the fruit. Then, the second electric telescopic cylinder 71 extends and retracts, causing the three sets of gripper panels 72 to close. The gripper rubber pads 7 flexibly adhere to the apple surface for stable clamping. With the help of the rotary motor 8, the angle is finely adjusted to precisely break off the fruit stem and complete the harvest. After harvesting, the apple is released as the grippers return to their original position, aligned with the feed hopper 14, and falls onto the movable support plate 18 inside the apple storage box 1. The impact spring 19 cushions and absorbs shock, preventing damage from bumps. The infrared sensor 16 monitors the amount of fruit stored in the box in real time. When the box is full, the system triggers the audible and visual alarm 27 to remind staff to remove the fruit promptly. During transport, the door opening and closing mechanism automatically locks the door shell 10 via the pull-back spring 105, which drives the L-shaped insert plate 106 to prevent fruit from falling. When fruit needs to be removed, the lifting crossbar 104 is manually pulled to overcome the spring force of the pull-back spring 105, unlocking the door shell 10 and allowing the fruit to be flipped open and removed.

[0056] The above are merely specific embodiments of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions, or modifications made based on the present invention to solve essentially the same technical problems and achieve essentially the same technical effects are all covered within the protection scope of the present invention.

Claims

1. A machine vision-based precision apple picking device, comprising a picking movement mechanism and an apple capacity storage mechanism, characterized in that: The apple storage capacity mechanism is fixed to the inside of the picking and moving mechanism. A position rotation mechanism is installed at the front end of the apple storage capacity mechanism on the picking and moving mechanism. A picking displacement mechanism is installed at the upper end of the position rotation mechanism. A rotating telescopic picking mechanism is installed at the outer end of the picking displacement mechanism. A machine vision sensing component is installed at the upper end of the rotating telescopic picking mechanism. A picking gripper mechanism is installed at the outer end of the rotating telescopic picking mechanism. An opening and closing door mechanism is installed at the outer end of the apple storage capacity mechanism. The apple storage mechanism includes an apple storage box (1), a feeding hopper (14) is fixed to the outside of the right end of the apple storage box (1), a limiting sleeve (15) is fixed to the middle of the bottom inside the apple storage box (1), a resisting spring (19) is welded to the bottom inside the limiting sleeve (15), a positioning movable rod (17) is welded to the upper end of the resisting spring (19) and sleeved inside the limiting sleeve (15), a movable support plate (18) is glued to the upper end of the positioning movable rod (17) by epoxy resin, and an infrared sensor (16) is installed on the outside of the limiting sleeve (15) at the bottom inside the apple storage box (1).

2. The machine vision-based precision apple picking device according to claim 1, characterized in that, The picking and moving mechanism includes an L-shaped platform (11), an apple storage box (1) is welded to the inner side of the L-shaped platform (11), a push handle (13) is welded to the upper rear end of the L-shaped platform (11), and swivel casters (12) are welded to the four corners at the lower end of the L-shaped platform (11).

3. The machine vision-based precision apple harvesting device according to claim 1, characterized in that, The position rotation mechanism includes a front housing (2), a maintenance door (21) is hinged to the front end slot of the front housing (2), a PLC panel (3) is screwed to the front end of the front housing (2), heat dissipation panels (22) are screwed to the inner sides of both ends of the front housing (2), and a geared motor (26) is screwed to the inner side of the left end of the front housing (2). The output shaft of the geared motor (26) is fixedly connected to a first coupling (25). The upper end of the first coupling (25) is fixed with a connecting shaft (24), and the upper end of the connecting shaft (24) is welded with a rotating end plate (23). The upper left side of the front chassis (2) is equipped with an audible and visual alarm (27) by screws. The audible and visual alarm (27) and the geared motor (26) are electrically connected to the PLC panel (3) through a connecting wire. The front chassis (2) is also equipped with a storage battery, which is electrically connected to the PLC panel (3) through a connecting wire.

4. The machine vision-based precision apple harvesting device according to claim 1, characterized in that, The picking displacement mechanism includes an upper and lower lead screw motor (41), the upper end of which is welded to an upper and lower lead screw body (4). The upper end of the upper and lower lead screw body (4) is fitted with the upper and lower lead screw motor (41) by screws. The output shaft of the upper and lower lead screw motor (41) is connected to the lead screw inside the upper and lower lead screw body (4) via a coupling. An upper and lower lead screw slider (42) is installed on the outer end of the upper and lower lead screw body (4). The upper and lower lead screw slider (42) is threadedly connected to the lead screw inside the upper and lower lead screw body (4). 2) The front end is fitted with left and right lead screw bodies (5) by screws. The outer end of the left and right lead screw bodies (5) is fitted with left and right lead screw motors (52) by screws. The left and right lead screw motors (52) are connected to the lead screw inside the left and right lead screw bodies (5) by couplings. The outer end of the left and right lead screw bodies (5) is fitted with left and right lead screw sliders (51). The left and right lead screw sliders (51) are connected to the lead screw inside the left and right lead screw bodies (5). The upper and lower lead screw motors (41) and the left and right lead screw motors (52) are electrically connected to the PLC panel (3) by connecting wires.

5. The machine vision-based precision apple picking device according to claim 1, characterized in that, The rotating telescopic harvesting mechanism includes a cylinder mounting plate (61), a first electric telescopic cylinder (6) is welded to the middle of the outer end of the cylinder mounting plate (61), a motor mounting plate (62) is welded to the telescopic rod end of the first electric telescopic cylinder (6), a reducer (81) is mounted on the front end of the motor mounting plate (62) by screws, a rotary motor (8) is mounted on the upper end of the reducer (81) by screws, a rotating mounting plate (82) is welded to the output shaft end of the reducer (81), and a harvesting component is mounted on the outer end of the rotating mounting plate (82).

6. The machine vision-based precision apple harvesting device according to claim 5, characterized in that, The harvesting assembly includes a screw assembly disc (73), which is mounted on a rotating mounting disc (82) by screws. A second electric telescopic cylinder (71) is welded to the middle of the other end of the screw assembly disc (73). Three concave panels (74) arranged in a circular array are welded to the circumference of the cylinder body of the second electric telescopic cylinder (71). The outer ends of the three concave panels (74) are movably mounted with gripper panels (72) by pins. The inner sides of the three gripper panels (72) are glued with gripper rubber pads (7) by epoxy resin. An assembly end disc (75) is threaded onto the circumference of the telescopic rod of the second electric telescopic cylinder (71). The assembly end disc (75) is clamped to the telescopic rod end of the second electric telescopic cylinder (71) by upper and lower clamping nuts (76). Three concave connecting blocks (77) arranged in a circular array are welded to the outer ends of the assembly end disc (75). The concave connecting blocks (77) are movably mounted on the lower protrusion of the gripper panel (72) by pins.

7. The machine vision-based precision apple harvesting device according to claim 1, characterized in that, The machine vision sensing component includes a connecting end post (91), which is mounted on the cylinder body of the first electric telescopic cylinder (6) by screws. A support column (93) is welded to the upper end of the connecting end post (91), and a top end block (92) is welded to the upper end of the support column (93). A vision component (9) is mounted on the outer end of the top end block (92) by screws. The vision component (9) is electrically connected to the PLC panel (3) by a connecting wire.

8. The machine vision-based precision apple picking device according to claim 7, characterized in that, The vision component (9) includes a depth vision camera, an intelligent fill light module, and an image acquisition and transmission module.

9. The machine vision-based precision apple picking device according to claim 1, characterized in that, The door opening and closing mechanism includes a door housing (10). Two door hinges (102) are movably installed on both sides of the lower end of the door housing (10). The door housing (10) is movably installed on the L-shaped vehicle board (11) through the door hinges (102). A door handle (101) is welded to the outer wall of the door housing (10). A lifting crossbar (104) is installed above the door housing (10). Both ends of the lifting crossbar (104) are welded to... There is an L-shaped insert plate (106), and a concave insert plate (103) is sleeved on the lower periphery of each of the two L-shaped insert plates (106). A pull-back spring (105) is welded between the concave insert plate (103) and the L-shaped insert plate (106). The two concave insert plates (103) are installed on the outer wall of the apple storage box (1) by screws. The box door shell (10) is blocked and sealed at the right end slot of the apple storage box (1) by the L-shaped insert plate (106).

10. The machine vision-based precision apple picking device according to claim 4, characterized in that, The upper and lower lead screw motors (41) are mounted on the rotating end plate (23) by screws, and a rubber pad is provided at the connection between the upper and lower lead screw motors (41) and the rotating end plate (23).

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