Intelligent vehicle for apple picking, grading and collecting

Abstract

The utility model relates to the field of orchard machinery, in particular to an intelligent apple picking, grading and collecting vehicle which comprises an intelligent picking vehicle, a transfer vehicle and a fruit conveying device. Two fruit conveying belts which are arranged side by side are arranged at the top of the picking vehicle, a fruit elevator is arranged at the tail end of each fruit conveying belt, and a fruit picking mechanical arm and a fruit sensing depth camera are correspondingly arranged above each fruit conveying belt; the intelligent transfer trolley is provided with two fruit rolling guide grooves arranged side by side, each fruit rolling guide groove is sequentially provided with three specifications of falling holes from small to large in the fruit entering direction, and a storage basket is arranged below each falling hole. The apple picking and transferring vehicle integrates picking, grading, collecting and transporting, fruit picking efficiency can be effectively improved, labor intensity is reduced, the mechanical development requirement of orchard operation is met, and meanwhile the picking vehicle and the transferring vehicle achieve uninterrupted operation of mechanical picking of apples in a child-mother matching operation mode.

Description

Technical Field

[0001] The utility model relates to the field of orchard machinery, in particular to an intelligent vehicle for picking, grading and collecting apples. Background Art

[0002] With the expansion of orchard planting area, people have more and more stringent requirements on the quality of fruits. However, in the entire operation process of the orchard, the labor intensity of orchard operation is high, the mechanical equipment is few, the efficiency is low, and most of the operations still rely on manual labor, which has high labor costs. Mechanized operation of orchards has become an urgent need. At present, it is a critical period for agriculture to develop from traditional mechanization to modern intelligence. However, in the production process of fruits and vegetables, in order to meet the seasonal requirements and quality of fruits and vegetables, grafting, picking, sorting and other operations still require a lot of labor. As the problem of labor shortage required for agricultural production becomes more and more serious, the cost of agricultural production has also increased accordingly. The harvesting and sorting of fruits and vegetables is an important link in the production process. The cost of manual harvesting of fruits and vegetables accounts for about 25 to 33% of the total production cost. However, there are problems such as low efficiency, high cost, different grading standards, and high arbitrariness in manual harvesting, sorting and handling, which leads to the market's seasonality, freshness, and quality of fruits and vegetables cannot be met.

[0003] Therefore, in response to the requirements of the apple industry, it is necessary to develop an intelligent vehicle that can pick, grade, collect and transport apples to improve production efficiency, reduce labor intensity, reduce overall production costs, and gradually meet the needs of mechanized development of orchard operations. Utility Model Content

[0004] Based on the above problems, the purpose of this utility model is to provide an intelligent vehicle for picking, grading and collecting apples. This utility model adopts the following technical solutions:

[0005] The utility model provides an intelligent vehicle for picking, grading and collecting apples, comprising:

[0006] An intelligent mobile picking vehicle, wherein two fruit conveyor belts arranged side by side are arranged on the top of the intelligent mobile picking vehicle, a fruit elevator is arranged at the end of each of the fruit conveyor belts, and a fruit picking mechanical arm and a fruit perception depth camera are arranged above each of the fruit conveyor belts;

[0007] An intelligent transport vehicle, wherein the intelligent transport vehicle is provided with two fruit rolling guide grooves arranged side by side, and each fruit rolling guide groove is provided with three sizes of drop holes in sequence from small to large along the fruit entry direction, and a storage basket is provided under each drop hole;

[0008] A vehicle hooking device, the vehicle hooking device comprises a towing hook and a towing seat; the towing hook is fixed to the front of the intelligent transport vehicle; the towing seat is fixed to the rear of the intelligent mobile picking vehicle, the towing seat is provided with a towing hole for plugging and matching with the towing hook, the towing seat is provided with a vertical guide hole passing through the towing hole, and a hooking rod which can move up and down and plug-match with the towing hook is provided in the vertical guide hole;

[0009] A fruit transmission device, the fruit transmission device includes a bracket, a support arm is arranged below the bracket, one end of the support arm is rotatably connected to the intelligent mobile picking vehicle, and the other end is rotatably connected to the bracket, two flexible transmission tubes arranged side by side are arranged on the bracket, one end of the flexible transmission tube is connected to the corresponding discharge end of the fruit elevator, and the other end of the flexible transmission tube is plugged into a docking tube, the docking tube is fixed on the intelligent transfer vehicle, and the docking tube corresponds one-to-one to the fruit rolling guide groove.

[0010] Preferably, a guide slide connected to the vertical guide hole is provided in the traction seat, a sliding rod and a spring are provided in the guide slide, one end of the spring abuts against the guide slide, and the other end abuts against the rear end of the sliding rod, the sliding rod is connected to a strike plate provided in the traction hole, and the front end of the sliding rod is inserted into a reserved positioning groove of the hook rod;

[0011] A vertically arranged telescopic driving member is arranged on the top of the traction seat, a push plate is arranged above the telescopic driving member, and the push plate is fixed on the hook rod.

[0012] Preferably, a bottom plate is provided on the top of the intelligent transport vehicle, a weighing sensor is arranged below the bottom plate, a lifting platform is provided above the bottom plate at a position corresponding to the drop hole, and the storage basket is arranged on the lifting platform.

[0013] Preferably, the lifting platform is a scissors-type lifting platform.

[0014] Preferably, a plurality of bristles are arranged on the inner wall of the drop hole.

[0015] Preferably, the fruit rolling guide groove is arranged obliquely along the fruit entry direction.

[0016] Preferably, the docking port of the docking sleeve is trumpet-shaped.

[0017] Compared with the prior art, the beneficial technical effects of the utility model are:

[0018] The utility model is an intelligent vehicle that integrates picking, grading, collecting and transporting, which can effectively improve the efficiency of fruit picking, reduce labor intensity, and meet the needs of mechanized development of orchard operations; at the same time, the picking vehicle and transfer vehicle of the utility model adopt a "parent-child cooperation operation mode" to realize uninterrupted mechanized apple picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The utility model will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the main structure of the smart car for picking, grading and collecting apples in an embodiment of the utility model;

[0021] Figure 2 This is a top view of the structure of the smart car for picking, grading and collecting apples in the embodiment of the utility model.

[0022] Figure 3 It is a schematic diagram of the main structure of the vehicle hitch device in the released state in the embodiment of the utility model;

[0023] Figure 4 This is a schematic diagram of the main structure of the vehicle hooking device in the hooking state in the embodiment of the utility model.

[0024] Figure 5 This is a schematic diagram of the main structure of the fruit transmission device in the embodiment of the utility model;

[0025] Figure 6 This is a block diagram of the working principle of the intelligent mobile vehicle in the embodiment of the utility model.

[0026] Explanation of the accompanying drawings: 1. Intelligent mobile picking vehicle; 2. Fruit conveyor belt; 3. Fruit elevator; 4. Fruit picking mechanical arm; 5. Fruit perception depth camera; 6. Intelligent transfer vehicle; 7. Fruit rolling guide groove; 701. Drop hole; 702. Brush; 8. Storage basket; 9. Vehicle mounting device; 901. Towing hook; 902. Towing seat; 903. Towing hole; 904. Vertical guide hole; 905. Mounting rod; 906. Guide slide; 907. Sliding rod; 908. Spring; 909. Impact plate; 910. Telescopic drive member; 911. Push plate; 10. Fruit transmission device; 1001. Bracket; 1002. Support arm; 1003. Flexible transmission tube; 1004. Docking tube; 11. Bottom plate; 12. Weighing sensor; 13. Lifting platform. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] like Figures 1 to 2As shown, in this embodiment, an intelligent vehicle for apple picking, grading and collection is disclosed, including an intelligent mobile picking vehicle 1 and an intelligent transfer vehicle 6. Two fruit conveyor belts 2 arranged side by side are arranged on the top of the intelligent mobile picking vehicle 1, and a fruit elevator 3 is arranged at the end of each fruit conveyor belt 2, and a fruit picking mechanical arm 4 and a fruit perception depth camera 5 are arranged above each fruit conveyor belt 2. Two fruit rolling guide grooves 7 arranged side by side are arranged on the intelligent transfer vehicle 6, and the fruit rolling guide grooves 7 are arranged obliquely along the fruit entry direction. Three sizes of drop holes 701 are arranged in sequence from small to large along the fruit entry direction in each fruit rolling guide groove 7, and the size of the drop hole 701 gradually increases according to the fruit entry direction, and a storage basket 8 is arranged below each drop hole 701.

[0029] In this embodiment, the intelligent mobile picking vehicle 1 is connected to the intelligent transport vehicle 6 through a vehicle hook device 9. Figures 3 to 4 As shown, the vehicle coupling device 9 includes a towing hook 901 and a towing seat 902; the towing hook 901 is fixed to the front of the intelligent transfer vehicle 6; the towing seat 902 is fixed to the rear of the intelligent mobile picking vehicle 1, and the towing seat 902 is provided with a towing hole 903 which is plugged in and matched with the towing hook 901, and the towing seat 902 is provided with a vertical guide hole 904 which passes through the towing hole 903, and the vertical guide hole 904 is provided with a coupling rod 905 which can move up and down and is plugged in and matched with the towing hook 901.

[0030] In this embodiment, the traction seat 902 is also provided with an automatic locking structure. Specifically, a guide slide 906 connected to the vertical guide hole 904 is provided in the traction seat 902, and a sliding rod 907 and a spring 908 are provided in the guide slide 906. One end of the spring 908 is against the guide slide 906, and the other end is against the rear end of the sliding rod 907. The sliding rod 907 is connected to the impact plate 909 set in the traction hole position 903, and the front end of the sliding rod 907 is inserted into the reserved positioning groove of the hanging rod 905; a vertically arranged telescopic drive member 910 is provided on the top of the traction seat 902, and a push plate 911 is provided above the telescopic drive member 910, and the push plate 911 is fixed on the hanging rod 905.

[0031] The working principle of the automatic locking structure is: after the traction hook 901 is inserted into the traction hole 903, it pushes the impact plate 909 to move backward. During the movement of the impact plate 909, it drives the sliding rod 907 to release the limit of the hook rod 905, and the hook rod 905 is plugged into the traction hook 901 under the action of gravity. When the vehicle hook device 9 is released from the hook state, the telescopic drive member 910 drives the hook rod 905 to rise by pushing the push plate 911 upward. When the reserved positioning groove on the hook rod 905 corresponds to the sliding rod 907, the sliding rod 907 pops forward under the action of the spring 908 to limit the hook rod 905.

[0032] In this embodiment, the fruit elevator 3 on the intelligent mobile picking vehicle 1 transfers the fruit to the fruit rolling guide 7 on the intelligent transport vehicle 6 through the fruit transmission device 10. Figure 5 As shown, the fruit transmission device 10 includes a bracket 1001, and a support arm 1002 is arranged below the bracket 1001. One end of the support arm 1002 is rotatably connected to the intelligent mobile picking vehicle 1, and the other end is rotatably connected to the bracket 1001. Two flexible transmission tubes 1003 arranged side by side are provided on the bracket 1001. One end of the flexible transmission tube 1003 is connected to the discharge end of the corresponding fruit elevator 3, and the other end of the flexible transmission tube 1003 is plugged into and matched with a docking tube 1004. The docking tube 1004 is fixed on the intelligent transfer vehicle 6, and the docking tube 1004 corresponds one-to-one to the fruit rolling guide groove 7.

[0033] In order to facilitate the plugging of the flexible transmission tube 1003 and the docking sleeve 1004, the docking port of the docking sleeve 1004 is trumpet-shaped.

[0034] In order to reduce the impact force of the fruit entering the drop hole 701, in this embodiment, a plurality of bristles 702 are arranged on the inner wall of the drop hole 701.

[0035] In this embodiment, a bottom plate 11 is provided on the top of the intelligent transport vehicle 6, a weighing sensor 12 is arranged below the bottom plate 11, a lifting platform 13 is provided above the bottom plate 11 at a position corresponding to the drop hole 701, and the storage basket 8 is arranged on the lifting platform 13, which can be a scissor-type lifting platform. The lifting platform 13 lifts the storage basket 8 to increase the height, shortens the height of the fruit falling, and reduces the damage and bruises of the fruit.

[0036] It should be noted that the intelligent mobile picking vehicle 1 and the intelligent transfer vehicle 6 can realize intelligent walking, and the vehicle chassis is equipped with a GPS positioning system, an electric drive system, a vehicle steering system, and a vehicle control system. The intelligent vehicle uses GPS positioning path planning and sensors to identify the road surface and the surrounding environment, and is attached with peripheral circuits to realize walking in the orchard. The working principle block diagram of the intelligent mobile picking vehicle 1 and the intelligent transfer vehicle 6 is shown in the figure. Figure 6 shown.

[0037] When the utility model is working, the two vehicles should be in a hooked state. The intelligent mobile picking vehicle 1 (as the mother vehicle) performs image recognition on the fruit through the fruit perception depth camera 5, first evaluates the maturity of the fruit by color, and then issues instructions to the fruit picking mechanical arm 4, which uses the fruit picking mechanical arm 4 to harvest apples and put them on the corresponding fruit conveyor belts 2 at different levels, thus completing the first grading process of the fruit.

[0038] The picked fruits are lifted by the fruit lifter 3. The lifted and transported fruits are transported to the corresponding fruit rolling guide groove 7 through the flexible transmission tube 1003 and the docking tube 1004 in the fruit transmission device 10. The fruits fall into the drop holes 701 of corresponding specifications during the process of rolling in the fruit rolling guide groove 7, and are finally collected by the storage basket 8 below, thus completing the second grading process of the fruits.

[0039] The weighing sensor 12 arranged below the bottom plate 11 detects the loading weight. When the intelligent transfer vehicle 6 (as a sub-vehicle) reaches the set full load weight, the vehicle coupling device 9 connecting the intelligent transfer vehicle 6 (sub-vehicle) and the intelligent mobile picking vehicle 1 is automatically uncoupled, and the intelligent transfer vehicle 6 transports the apples to the designated collection location, and the next empty intelligent transfer vehicle 6 (sub-vehicle) is docked with the intelligent mobile picking vehicle 1 (mother vehicle) (docking of the vehicle coupling device 9 and docking of the fruit transmission device 10). After the docking is completed, the sub-vehicle turns off its own driving system and moves forward under the traction of the mother vehicle, thereby realizing uninterrupted apple picking operations.

[0040] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An intelligent vehicle for picking, grading and collecting apples, characterized in that: include: An intelligent mobile picking vehicle (1), wherein two fruit conveyor belts (2) arranged side by side are arranged on the top of the intelligent mobile picking vehicle (1), a fruit elevator (3) is arranged at the end of each of the fruit conveyor belts (2), and a fruit picking mechanical arm (4) and a fruit sensing depth camera (5) are correspondingly arranged above each of the fruit conveyor belts (2); An intelligent transport vehicle (6), wherein the intelligent transport vehicle (6) is provided with two fruit rolling guide grooves (7) arranged side by side, and each fruit rolling guide groove (7) is provided with three sizes of drop holes (701) in sequence from small to large along the fruit entry direction, and a storage basket (8) is provided below each drop hole (701); A vehicle hooking device (9), the vehicle hooking device (9) comprising a traction hook (901) and a traction seat (902); the traction hook (901) is fixed to the front of the intelligent transport vehicle (6); the traction seat (902) is fixed to the rear of the intelligent mobile picking vehicle (1); the traction seat (902) is provided with a traction hole (903) plugged with the traction hook (901); the traction seat (902) is provided with a vertical guide hole (904) penetrating the traction hole (903); the vertical guide hole (904) is provided with a hooking rod (905) that can move up and down and plugged with the traction hook (901); A fruit transmission device (10), the fruit transmission device (10) comprising a bracket (1001), a support arm (1002) being arranged below the bracket (1001), one end of the support arm (1002) being rotatably connected to the intelligent mobile picking vehicle (1), and the other end being rotatably connected to the bracket (1001), the bracket (1001) being provided with two flexible transmission tubes (1003) arranged side by side, one end of the flexible transmission tube (1003) being connected to the discharge end of the corresponding fruit elevator (3), the other end of the flexible transmission tube (1003) being plug-fitted with a docking tube (1004), the docking tube (1004) being fixed on the intelligent transport vehicle (6), and the docking tube (1004) corresponding one-to-one to the fruit rolling guide groove (7).

2. The apple picking, grading and collecting smart vehicle according to claim 1, characterized in that: The traction seat (902) is provided with a guide slide (906) connected with the vertical guide hole (904), and the guide slide (906) is provided with a sliding rod (907) and a spring (908), one end of the spring (908) is against the guide slide (906), and the other end is against the rear end of the sliding rod (907), the sliding rod (907) is connected to the impact plate (909) provided in the traction hole position (903), and the front end of the sliding rod (907) is inserted into the reserved positioning groove of the hanging rod (905); A vertically arranged telescopic driving member (910) is provided on the top of the traction seat (902), a push plate (911) is provided above the telescopic driving member (910), and the push plate (911) is fixed on the hook rod (905).

3. The apple picking, grading and collecting smart vehicle according to claim 1, characterized in that: The top of the intelligent transfer vehicle (6) is provided with a bottom plate (11), a weighing sensor (12) is arranged below the bottom plate (11), a lifting platform (13) is provided above the bottom plate (11) at a position corresponding to the drop hole (701), and the storage basket (8) is arranged on the lifting platform (13).

4. The apple picking, grading and collecting smart vehicle according to claim 3, characterized in that: The lifting platform (13) is a scissor-type lifting platform.

5. The apple picking, grading and collecting smart vehicle according to claim 1, characterized in that: A plurality of bristles (702) are arranged on the inner wall of the drop hole (701).

6. The apple picking, grading and collecting smart vehicle according to claim 1, characterized in that: The fruit rolling guide groove (7) is arranged obliquely along the fruit entry direction.

7. The apple picking, grading and collecting smart vehicle according to claim 1, characterized in that: The docking port of the docking sleeve (1004) is trumpet-shaped.

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