Fresh tomato picking device

Abstract

The utility model belongs to the technical field of tomato picking, and particularly provides a fresh tomato picking device which comprises a movable platform car, a mechanical arm, a pedicel image obtaining module and a control module, the mechanical arm comprises a fruit picking assembly, and the picking assembly comprises a fruit grabbing component and a fruit stem weakening component. The fruit grabbing component and the fruit stem weakening component are used in cooperation, and due to the fact that the picking assembly comprises the fruit grabbing component and the fruit stem weakening component, when the fruit grabbing component and the fruit stem weakening component are used in cooperation, fully-ripe tomatoes fall off from pedicels, half-ripe tomatoes break off from fruit stems, and the pedicel image obtaining module recognizes the tomatoes with pedicels. Therefore, the technical purposes that the picked fully-cooked tomatoes and half-cooked tomatoes are classified, the sorting time of workers is further saved, and follow-up graded selling or storage is facilitated can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of tomato picking, and in particular relates to a fresh tomato picking device. Background Art

[0002] Tomatoes are rich in nutrition and have a special flavor. They can be eaten raw, cooked, processed into tomato sauce, juice or canned as a whole fruit. Existing picking equipment is not very targeted and still uses manual picking, which takes a long time to work. In addition, tomatoes need to be classified into different individuals after picking, which increases the sorting process, is time-consuming and labor-intensive, and has low economic benefits.

[0003] Most of the existing automatic picking devices only automatically pick tomatoes and store them together. However, during the picking process, the staff will also classify the fruits according to maturity based on their experience for subsequent classification, sale or storage. Although the automatic picking device saves the manual picking process, after picking, the staff still needs to pick and classify the tomatoes one by one from the whole pile, which still takes up a lot of working time, and the picking and classification of a large number of tomatoes will also increase the labor intensity of the staff. Utility Model Content

[0004] The utility model aims to provide a fresh tomato picking device, which can perform preliminary classification of picked tomatoes according to whether they are fully ripe or half ripe while picking fresh tomatoes, thereby further saving the sorting time of the staff and facilitating subsequent classification for sale or storage.

[0005] In order to solve the above problems, the utility model adopts the following technical solutions:

[0006] A fresh tomato picking device comprises a mobile platform vehicle, a mechanical arm and a fruit stem image acquisition module, wherein the mobile platform vehicle comprises a fully ripe tomato collection box and a half-ripe tomato collection box, the mechanical arm comprises a picking assembly, and the picking assembly comprises a fruit grabbing component and a fruit stalk weakening component, the fruit grabbing component is used to catch tomatoes, and the fruit stalk weakening component is used to weaken the tomato stem to put it in a semi-severed state.

[0007] Preferably, the fruit stalk weakening component includes a toothed scissors, which is connected to the mechanical arm and arranged at the lower end of the fruit grasping component. The width of the teeth of the toothed scissors is between 0.1 mm and 0.3 mm, and the length of the teeth of the toothed scissors is between 0.1 mm and 0.5 mm.

[0008] Preferably, the fruit stem image acquisition module is arranged on a robotic arm, and the fruit stem image acquisition module is used to identify tomatoes with stems.

[0009] Preferably, it also includes a classification control module, and the classification control module is electrically connected to the fruit stem image acquisition module and the robotic arm.

[0010] Preferably, the mobile platform vehicle comprises a vehicle body and a bottom traveling mechanism, and the bottom traveling mechanism is arranged at the lower part of the vehicle body.

[0011] Preferably, a lifting mechanism is provided between the vehicle body and the bottom traveling mechanism.

[0012] Preferably, a pan-tilt platform is arranged on the vehicle body, and the mechanical arm is arranged on the pan-tilt platform.

[0013] Preferably, a navigation mechanism is provided on the vehicle body.

[0014] The technical solution adopted in this application can achieve the following beneficial effects:

[0015] Provided is a fresh tomato picking device, comprising a picking component and a fruit stem image acquisition module. Since the picking component comprises a fruit grabbing component and a fruit stalk weakening component, when the fruit grabbing component and the fruit stalk weakening component are used in combination, fully ripe tomatoes fall off from the fruit stalks, and half-ripe tomatoes are disconnected from the fruit stems. The half-ripe tomatoes have stalks, and the fruit stalk image acquisition module takes photos or videos in real time to identify the tomatoes with stalks. After successful identification, the tomatoes with stalks are harvested into a half-ripe tomato collection box, and the tomatoes that are unsuccessfully identified are collected into a fully ripe tomato collection box, so that the fully ripe tomatoes and half-ripe tomatoes after picking can be classified, further saving the sorting time of the staff, so as to facilitate subsequent classification, sale or storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a partial enlarged view of the picking component in the utility model.

[0018] In the figure, there are a mobile platform vehicle 1, a robotic arm 2, a fully ripe tomato collection box 3, a half-ripe tomato collection box 4, a picking component 5, a fruit grasping component 6, a fruit stalk weakening component 7, toothed scissors 8, saw teeth 9, and a fruit stalk image acquisition module 10. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0020] It should be noted that when a device is considered to be "connected" to another device, it may be directly connected to the other device or there may be an intermediate device at the same time. The terms "inside", "top", "upper", "lower", "upper", "lower" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0022] The fresh tomato picking device of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0023] Please see Figure 1 and Figure 2 The utility model provides a fresh tomato picking device, including a mobile platform vehicle 1, a mechanical arm 2 and a fruit stem image acquisition module 10, the mobile platform vehicle 1 includes a fully ripe tomato collection box 3 and a half-ripe tomato collection box 4, the mechanical arm 2 includes a picking component 5, the picking component 5 includes a fruit grabbing part 6 and a fruit stalk weakening part 7, the fruit grabbing part 6 is used to capture tomatoes, and the fruit stalk weakening part 7 is used to weaken the tomato stem to put it in a semi-broken state.

[0024] In this embodiment, a mechanical arm 2 is provided on the mobile platform vehicle 1, and a motor-driven connecting block is provided at the joint of the mechanical arm 2. A fruit image acquisition module is provided on the mechanical arm 2 for identifying tomatoes with pedicles, and is connected to the control module. The picking component 5 is provided at the end of the mechanical arm 2, and is rotatably connected to the mechanical arm 2. A fruit grabbing component 6 and a fruit stalk weakening component 7 are provided on the picking component 5. The fruit grabbing component 6 is used to capture and hold tomatoes, and the fruit stalk weakening component 7 can weaken the stem of the tomato so that it is in a semi-broken state. The fruit grabbing component 6 and the fruit stalk weakening component 7 can generate mutual force when used in conjunction with each other. When a fully ripe tomato is captured, the tomato falls off from the stalk, and when a half-ripe tomato is captured, the tomato is separated from the weakened stem. The half-ripe tomato has a stalk, and the fruit stalk image acquisition module takes photos or videos in real time to identify tomatoes with stalks. After successful identification, the tomatoes are harvested to a half-ripe tomato collection box, and tomatoes that are unsuccessfully identified are collected to a fully ripe tomato collection box.

[0025] In the above embodiment, the fruit grabbing component 6 can be a clamping type robot grasping, a vacuum suction type robot grasping or a combined type robot grasping, and the inner wall of the fruit grabbing component 6 is made of flexible material to prevent the tomato from being damaged during the capturing process.

[0026] Furthermore, the fruit stalk weakening component 7 includes a toothed scissors 8, which is connected to the mechanical arm 2 and is arranged at the lower end of the fruit grabbing component 6. The width of the saw teeth 9 of the toothed scissors 8 is between 0.1 mm and 0.3 mm, and the length of the saw teeth 9 of the toothed scissors 8 is between 0.1 mm and 0.5 mm. The advantage of such a setting is that the fruit stalk weakening component makes the tomato stem in a semi-separated state, and if the tomato is half-ripe, it will not be broken from here.

[0027] In this embodiment, the fruit stalk weakening component 7 is a toothed scissors 8, the saw teeth 9 of the toothed scissors 8 are relatively wide and relatively short, and when in use, the gripper 8 holds the tomato after catching it, and the toothed scissors 8 clamp the tomato stalk to weaken the stalk. The toothed scissors can clamp the stem of the tomato, leaving the stem of the tomato in a semi-severed state.

[0028] Furthermore, the fruit stem image acquisition module 10 is arranged on the robot arm 2, and the fruit stem image acquisition module 10 is used to identify tomatoes with stems. The fruit stem image acquisition module 10 identifies tomatoes with stems and can separate fully ripe tomatoes from half-ripe tomatoes without manual selection and classification.

[0029] Furthermore, a classification control module is included, and the classification control module is connected to the fruit stem image acquisition module 10 and the robot arm. After the fruit stem image acquisition module 10 identifies the tomatoes with stems, the classification control module can control the robot arm to collect the fully ripe tomatoes into the fully ripe collection box and collect the half-ripe tomatoes into the half-ripe tomato collection box.

[0030] Furthermore, the mobile platform vehicle 1 includes a vehicle body, a bottom walking mechanism, and the bottom walking mechanism is arranged at the lower part of the vehicle body. The bottom end of the bottom walking mechanism is equipped with walking wheels, and at least four walking wheels are arranged. The bottom walking mechanism can travel in the field or in the greenhouse.

[0031] Furthermore, a lifting mechanism is provided between the vehicle body and the bottom walking mechanism. The advantage of the lifting mechanism is that when picking tomatoes at different heights, the height of the vehicle body can be adjusted so that all tomatoes can be picked.

[0032] Furthermore, a platform is provided on the vehicle body, and the mechanical arm 2 is provided on the platform. The platform can rotate the mechanical arm to pick tomatoes in different directions.

[0033] Furthermore, a navigation mechanism is arranged on the vehicle body, and the navigation system can automatically control the mobile platform vehicle to move at a predetermined position.

[0034] The beneficial effects of the utility model are as follows: a fresh tomato picking device is provided, comprising a picking component 5 and a fruit stem image acquisition module 10. Since the picking component 5 comprises a fruit grasping component 6 and a fruit stalk weakening component 7, when the fruit grasping component 6 and the fruit stalk weakening component 7 are used in combination, the fully ripe tomatoes fall off from the fruit stalks, and the half-ripe tomatoes are disconnected from the fruit stems. The half-ripe tomatoes have stalks, and the fruit stalk image acquisition module 10 takes photos or videos in real time to identify the tomatoes with stalks. After successful identification, the tomatoes with stalks are harvested into a half-ripe tomato collection box, and the tomatoes that are unsuccessfully identified are collected into a fully ripe tomato collection box, so that the fully ripe tomatoes and half-ripe tomatoes after picking can be classified, further saving the sorting time of the staff, so as to solve the technical problems of subsequent grading, selling or storing.

[0035] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A fresh tomato picking device, characterized in that: The invention comprises a mobile platform vehicle, a mechanical arm and a fruit stem image acquisition module. The mobile platform vehicle comprises a fully ripe tomato collection box and a half-ripe tomato collection box. The mechanical arm comprises a picking component. The picking component comprises a fruit grabbing component and a fruit stem weakening component. The fruit grabbing component is used to capture tomatoes. The fruit stem weakening component is used to weaken the tomato stem to put it in a semi-severed state.

2. The fresh tomato picking device according to claim 1, characterized in that: The fruit handle weakening component includes a toothed scissors, which is connected to the mechanical arm and arranged at the lower end of the fruit grasping component. The width of the teeth of the toothed scissors is between 0.1 mm and 0.3 mm, and the length of the teeth of the toothed scissors is between 0.1 mm and 0.5 mm.

3. A fresh tomato picking device according to claim 2, characterized in that: The fruit stem image acquisition module is arranged on the robot arm, and the fruit stem image acquisition module is used to identify tomatoes with stems.

4. A fresh tomato picking device according to claim 3, characterized in that: It also includes a classification control module, which is electrically connected to the fruit stem image acquisition module and the mechanical arm.

5. The fresh tomato picking device according to claim 1, characterized in that: The mobile platform vehicle comprises a vehicle body and a bottom traveling mechanism, and the bottom traveling mechanism is arranged at the lower part of the vehicle body.

6. The fresh tomato picking device according to claim 5, characterized in that: A lifting mechanism is arranged between the vehicle body and the bottom walking mechanism.

7. The fresh tomato picking device according to claim 6, characterized in that: The vehicle body is provided with a pan-tilt platform, and the mechanical arm is provided on the pan-tilt platform.

8. The fresh tomato picking device according to claim 7, characterized in that: A navigation mechanism is arranged on the vehicle body.

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