Sortable pitaya picking device

Abstract

The utility model discloses a sortable pitaya picking device which comprises a picking device, a vehicle body arranged below the picking device, a visual identification system arranged on one side of the vehicle body, a sorting mechanism arranged inside the vehicle body, a walking mechanism arranged below the vehicle body, and the picking device comprises a flexible picking arm, a mechanical claw and a pneumatic pushing mechanism. The visual identification system comprises a mounting plate, and a visual identification device I and a visual identification device II which are arranged on the mounting plate; the sorting mechanism comprises a large fruit collecting box, a sorting plate, a small fruit collecting box and an air compression type pusher, round holes are formed in the sorting plate, and the small fruit collecting box is arranged below the sorting plate; the air compression type pusher pushes the rubber pushing head, and the rubber pushing head corresponds to the round hole in position. According to the pitaya picking device capable of achieving sorting, automatic picking of pitaya can be better met, the pitaya is sorted while picking is conducted, and the pitaya picking and sorting efficiency is further improved.

Description

Technical Field

[0001] The utility model relates to an agricultural picking device, specifically a dragon fruit picking device capable of sorting. Background Technique

[0002] Dragon fruit is a nutritious fruit. It contains rich nutrients such as vitamins, minerals, and cellulose, which can enhance human immunity, promote the absorption and utilization of iron, and protect cardiovascular health. Moreover, dragon fruit is rich in dietary fiber, which helps to promote digestion and defecation, reduce cholesterol and blood sugar levels, and prevent intestinal diseases. In addition, dragon fruit is rich in minerals such as calcium, iron, magnesium, and phosphorus, which are very important for human health and can help maintain bone health and promote the normal functions of muscles and nerves. In short, dragon fruit is a nutritious, healthy and delicious fruit that can provide the human body with a variety of nutrients and help promote physical health and prevent diseases. As of 2022, the national planting area of dragon fruit exceeded 300,000 mu, and the output exceeded 1 million tons. The main production areas of dragon fruit are concentrated in provinces such as Guangdong, Guangxi, Yunnan, Hainan, and Fujian. The demand for dragon fruit in domestic and foreign markets continues to grow. However, at present, the picking of dragon fruit mainly relies on manual labor, and there is no mature dragon fruit picking machine. Manual picking has disadvantages such as high cost, low efficiency, difficult picking, and difficult to guarantee the picking quality. The manual picking time is too long, which is easy to cause problems such as nutrient loss, over-ripening of fruits, and fruit cracking of dragon fruit, which is not conducive to the development of the dragon fruit industry; and the large-scale planting of dragon fruit trees is carried out in a row-by-row planting method, with a certain distance left between rows to facilitate people or machinery to enter and pick fruits after the dragon fruit is ripe. However, dragon fruit generally grows in a humid soil environment, and it is difficult for general machinery to walk in such a land environment; due to the different sizes and values of dragon fruits, the existing dragon fruits need to be sorted manually according to their sizes after ripening for easy sale. However, manual sorting is time-consuming and laborious. At the same time, the existing dragon fruit sorting machines on the market have complex structures, high use costs, and very troublesome later maintenance, and cannot meet the needs of small-scale dragon fruit farmers. Most of the commonly used dragon fruit picking devices on the market are non-automated scissors. It is necessary to manually cut the dragon fruit by cutting the stems and leaves, and then sort it, which requires a large amount of manual labor costs. Therefore, it is very urgent to develop a dragon fruit picking device for a humid soil environment that can complete automated cutting and sorting functions.

[0003] A dragon fruit picking scissors with the patent number CN218473790. The first cutting component and the second cutting component approach each other to cut the dragon fruit stem. The wound is small and easy to recover. A dragon fruit picker with the patent number CN218072507 puts a picking sleeve on the dragon fruit, pulls the elastic pulling member, drives the cutting component to move on the main body sleeve, and uses the cutting component to cut the connection part between the dragon fruit and the branch, so as to separate the dragon fruit. The picked dragon fruit is placed in the picking sleeve. A dragon fruit picking device with the patent number CN214430258 realizes the function of shearing and transporting by setting a shearing mechanism and a feeding mechanism, so that the cut dragon fruit is transported to the fruit receiving box through the feeding mechanism, and the dragon fruit is collected. The common problem of the above picking technologies is that although the dragon fruit can be reasonably sheared and picked, it is still manual operation, with extremely low efficiency, and cannot adapt to the current situation of large-scale dragon fruit planting in China.

[0004] A field walking device with the patent number CN213245769 reduces its bumps through shock-absorbing rods, and at the same time, the mud adhered to the tires can be removed by a scraper. A field walking device of a mung bean picking robot with the patent number CN108901362 uses multi-legged walking legs, and drives the walking legs to lift and lower through moving joints to walk. The common problem of the above walking devices is that they can only be used on dry and hard soil, and cannot walk in a humid soil environment, and cannot meet the requirements of the dragon fruit planting environment.

[0005] A dragon fruit sorting machine with the patent number CN210449893 distinguishes dragon fruits of different sizes by setting three feeding pipes of different sizes, and uses a double-axis stepper motor to drive a threaded seat to push the dragon fruit forward through a screw. Although this machine can sort a large number of dragon fruits through the stepper motor, it cannot avoid the situation that dragon fruits of different sizes are stuck in the feeding pipes. A dragon fruit sorting machine with the patent number CN207787092 includes a feeding device, a sorting mechanism and a receiving device. The feeding device transports the dragon fruit to the sorting mechanism for sorting, and the sorted dragon fruit enters the receiving device along the inclined conveying slideway. This machine sorts by its gravity sensing, can sort a large number, and can avoid the situation of dragon fruit jamming, but it is only used for centralized screening of the picked dragon fruit and cannot sort during picking. In addition, the more processes, the greater the damage to the dragon fruit. Utility Model Content

[0006] The technical problem to be solved by the present utility model is to provide a dragon fruit picking device that can sort, which can better meet the automated picking of dragon fruits, sort the dragon fruits during picking, and further improve the picking and sorting efficiency of dragon fruits.

[0007] To solve the above technical problems, the following technical means are adopted in the present utility model:

[0008] A separable pitaya picking device, comprising a picking device, a vehicle body is arranged under the picking device, a visual recognition system is arranged on one side of the vehicle body, a sorting mechanism is arranged inside the vehicle body, and a traveling mechanism is arranged under the vehicle body. The picking device includes a flexible picking arm, a mechanical claw and a pneumatic pushing mechanism; the mechanical claw is arranged at the end of the flexible picking arm, the pneumatic pushing mechanism is arranged on one side of the flexible picking arm, the flexible picking arm has three degrees of freedom, and the stepping motor controls the rotation angle so that the mechanical claw at its end can accurately grab and pick pitayas. The picking device puts the picked pitayas into the square hole above the vehicle body; the traveling mechanism includes a chassis, four universal wheels and two driving wheels, the two driving wheels rotate to drive the chassis to travel, and the four universal wheels support the chassis; the visual recognition system includes a mounting plate, a visual recognition device one and a visual recognition device two arranged on the mounting plate; the visual recognition system is electrically connected to the control system and transmits image information to the control system; the sorting mechanism includes a large fruit collection box, a sorting plate, a small fruit collection box and an air compression type pusher. The large fruit collection box is connected to the bottom of the sorting plate, the sorting plate is inclined, round holes are provided on the sorting plate, and a small fruit collection box is arranged below the sorting plate; an air compression type pusher is arranged on one side of the sorting plate where the small fruit collection box is located, the air compression type pusher pushes a rubber push head, and the rubber push head corresponds to the position of the round hole.

[0009] The visual recognition device one recognizes the pitaya image. The visual recognition device two is used to detect the flatness of the road surface.

[0010] The traveling mechanism adopts four universal wheels and two driving wheels, which effectively reduces the pressure between the wheels and the ground, can better adapt to the humid soil environment of the pitaya planting area, and can better complete the traveling.

[0011] The scheme of adopting a flexible picking arm, a mechanical claw and a pneumatic pushing mechanism for picking has high movement accuracy of the picking device, small damage to the branches and stems, and smooth single fruit picking.

[0012] Adopting the scheme of matching two sets of visual recognition devices, the visual recognition device one is used to determine the picking point coordinates and spatial coordinates of the pitaya, and the visual recognition device two is used to analyze the flatness of the ground surface and select a relatively flat ground position to move forward.

[0013] Rubber buffer pads are arranged on both the small fruit collection box and the large fruit collection box.

[0014] The present utility model integrates picking and sorting, and completes the pitaya operation integrally. The sorting mechanism adopts an air compression type pusher, which uses air pressure as the power to drive the push rod to reciprocate back and forth, so that the rubber push head gently pushes the pitaya stuck in the round hole to prevent blockage of sorting.

[0015] As a further improvement to this technical solution: The flexible picking arm includes a bottom plate, a picking arm seat, bearing one, bearing two, stepping motor one, bearing three, a stabilizing arm, a fixed clamp, a synchronous belt, stepping motor two, a cross arm, stepping motor three, stepping motor four, a vertical arm, and a driving arm. The upper end of the bottom plate is provided with a picking arm seat to stabilize the entire mechanism. The driving arm is arranged on the picking arm seat. The inner side above the driving arm is connected with the vertical arm. The inner side above the vertical arm is provided with a stabilizing arm. The inner side above the stabilizing arm is provided with a cross arm. The picking arm seat and the driving arm are connected through bearing one. The driving arm and the vertical arm are connected through bearing two, and stepping motor one is arranged at bearing two. The vertical arm and the stabilizing arm are connected through bearing three, and stepping motor four is arranged at bearing three. The stabilizing arm and the cross arm are connected through a fixed clamp, and stepping motor three is arranged at the fixed clamp. Stepping motor two is arranged between the cross arms. A synchronous belt is arranged on the right side plate of the cross arm, and the synchronous belt is driven by stepping motor two. Stepping motor one drives the vertical arm to rotate, and stepping motor four drives the stabilizing arm to rotate. The cross arm is connected with stepping motor three through a fixed clamp, and the cross arm is driven to rotate by stepping motor three. The driving arm, the vertical arm, the stabilizing arm, and the cross arm are all provided with two arm plates on the left and right. The vertical arm and the stabilizing arm are respectively clamped and connected with stepping motor one and stepping motor four through bearing two and bearing three.

[0016] As a further improvement to this technical solution: The mechanical claw includes a three-claw hand, a limiter, a fixed seat, a synchronous belt driven wheel, stepping motor five, bearing four, and an adapter. Stepping motor five is installed on the fixed seat, and the fixed seat is connected with the synchronous belt driven wheel through bearing four. The mechanical claw is connected with the flexible picking arm through the shaft of the synchronous belt driven wheel and bearing four. Three three-claw hands are arranged at intervals along its mounting plate, and each three-claw hand is hingedly connected to the mounting plate. When stepping motor five works, it drives the three-claw hand to rotate around the hinge of the mounting plate to complete the actions of grasping and releasing the pitaya. When stepping motor five rotates clockwise, it completes the grasping, and when stepping motor five rotates counterclockwise, it completes the release. The limiter mechanically blocks the expansion of the three-claw hand to avoid excessive expansion.

[0017] As a further improvement to this technical solution: The pneumatic pushing mechanism consists of a cylinder support plate, a cylinder, a slide rod, a push plate, a slide rail, and a slide rail support plate. The cylinder is installed in the middle of the flexible picking arm through the cylinder support plate. The driving end of the cylinder is connected with the push plate, and slide rods and slide rails are arranged on both sides of the push plate. The slide rods are slidably matched with the slide rails. The slide rods and the slide rails are supported by the slide rail support plate.

[0018] The push plate is driven to drive the slide rods on both sides to move on the slide rails. The slide rods can push away non-picked stems to a certain extent, assisting in picking while avoiding being cut by the picked pitaya.

[0019] As a further improvement to this technical solution: The walking mechanism further includes support columns, baffles, support plates, and battery boxes; Four support columns are provided, respectively arranged at the four corners of the chassis; The support columns are used to connect and arrange the support plates, and the support plates are used to arrange the large fruit collection box; The battery box is arranged in the space between the support columns on the chassis, and a baffle is arranged at the top of the battery box to prevent the dragon fruit juice from dripping onto the battery box during the picking process; The battery box provides power for the two drive wheels to make the whole vehicle move forward.

[0020] As a further improvement to this technical solution: The four universal wheels are respectively the left rear universal wheel, the left front universal wheel, the right front universal wheel, and the right rear universal wheel; The two drive wheels are respectively the left drive wheel and the right drive wheel; The left rear universal wheel, the left front universal wheel, the right front universal wheel, and the right rear universal wheel are respectively connected to the chassis through the caster bracket one, the caster bracket two, the caster bracket three, and the caster bracket four; The left drive wheel and the right drive wheel are respectively connected to the chassis through the drive device one and the drive device two.

[0021] As a further improvement to this technical solution: The visual recognition device one is composed of an image processing module one, an image sensor one, and an OpenCV camera one. The OpenCV camera one is connected to the image processing module one through the image sensor one, and the image processing module one is connected to the mounting plate; The visual recognition device two is composed of a flat plate, an image processing module two, an image sensor two, and an OpenCV camera two; The OpenCV camera two is connected to the image processing module two through the image sensor two, and the image processing module two is connected to the mounting plate through the flat plate.

[0022] The visual recognition device one is placed obliquely to detect the front; The visual recognition device two is connected by a flat plate to detect directly below; The visual recognition device one and the visual recognition device two cooperate to judge the appropriate path, so as to make the left drive wheel and the right drive wheel move through the operation of the drive device one and the drive device two. When the rotation speeds of the left drive wheel and the right drive wheel are the same, it moves in a straight line; When the rotation speeds of the left drive wheel and the right drive wheel are different, the direction can be adjusted.

[0023] As a further improvement to this technical solution: The air compression pusher includes a pneumatic pressure regulating valve, a pneumatic pressure regulating pipe, an exhaust hole, an air compressor, a rear cover, a push rod, a connecting device, and a rubber push head; The pneumatic pressure regulating valve is communicated with the air compressor through the pneumatic pressure regulating pipe; One end of the air compressor is connected to one end of the push rod, and the push rod drives the rubber push head.

[0024] The rubber push head of the air compression type pusher corresponds to the round hole. After the pitaya is picked, it falls onto the sorting mechanism by the mechanical claw. Due to gravity, the pitaya rolls along the slope. The small fruits among them enter the small fruit collection box through the round hole, while the large fruits continue to slide into the large fruit collection box after passing through the round hole. If the pitaya with a size similar to the round hole gets stuck at the round hole, the air compression type pusher works, pushing the rubber push head to push the pitaya at the round hole outwards from the round hole, so that it gets separated from the round hole and rolls into the large fruit collection box.

[0025] Compared with the existing technology, the prominent features of the present utility model are as follows:

[0026] (1) An innovative picking device is set up. A flexible picking arm driven by a stepping motor with three degrees of freedom is adopted for precise positioning. A mechanical claw structure with three arc-shaped claws is used to gently grasp the pitaya, making the pitaya present an easy-to-pick posture and rotating for picking. A pneumatic pushing mechanism is adopted to assist in grasping, pushing the stem to be picked to avoid mutual damage of the pitayas during the picking process.

[0027] (2) A scheme of matching two sets of visual recognition devices is adopted. The advancing route is determined by recognizing the pitaya image and judging the flatness of the road surface, making the picking intelligent and reasonable.

[0028] (3) A small sorting mechanism is added to the pitaya picking device. Simple sorting is achieved under the action of gravity and the air compression type pusher, with low cost, obvious effect, and the picking and sorting are integrated to improve efficiency. The air compression type pusher uses air pressure as the power to drive the push rod to push the rubber push head, with a clever and lightweight structure. Description of the Drawings

[0029] Figure 1 It is the structural diagram of the sortable pitaya picking device of the present invention.

[0030] Figure 2 is Figure 1 The schematic structural diagram of the picking device in the shown sortable pitaya picking device.

[0031] Figure 3 is Figure 2 The schematic structural diagram of the flexible picking arm in the shown picking device.

[0032] Figure 4 is Figure 2 The schematic structural diagram of the mechanical claw in the shown picking device.

[0033] Figure 5 is Figure 2 The schematic structural diagram of the pneumatic pushing mechanism in the shown picking device.

[0034] Figure 6 is Figure 1 The axonometric drawing of the traveling mechanism in the shown sortable pitaya picking device.

[0035] Figure 7 is Figure 1 The top view of the traveling mechanism in the separable pitaya picking device shown in the figure.

[0036] Figure 8 is Figure 1 The schematic structural diagram of the visual recognition system in the separable pitaya picking device shown in the figure.

[0037] Figure 9 is Figure 1 The schematic structural diagram of the sorting mechanism in the separable pitaya picking device shown in the figure.

[0038] Figure 10 is Figure 10 The schematic structural diagram of the air compression pusher in the sorting mechanism shown in the figure.

[0039] Figure 11 is Figure 1 The axonometric drawing of the vehicle body in the separable pitaya picking device shown in the figure.

[0040] Explanation of reference numerals:

[0041] 1000 - Picking device, 1100 - Flexible picking arm, 1101 - Bottom plate, 1102 - Picking arm seat, 1103 - Bearing 1, 1104 - Bearing 2, 1105 - Stepper motor 1, 1106 - Bearing 3, 1107 - Arm stabilizer, 1108 - Fixed clamping plate, 1109 - Synchronous belt, 1110 - Stepper motor 2, 1111 - Cross arm, 1112 - Stepper motor 3, 1113 - Stepper motor 4, 1114 - Vertical arm, 1115 - Driving arm; 1201 - Three - jaw gripper, 1202 - Limiter, 1203 - Fixed seat, 1204 - Synchronous belt driven wheel, 1205 - Stepper motor 5, 1206 - Bearing 4, 1207 - Adapter; 1301 - Cylinder support plate, 1302 - Cylinder, 1303 - Slide bar, 1304 - Push plate, 1305 - Slide rail, 1306 - Slide rail support plate;

[0042] 2000 - Traveling mechanism, 2101 - Chassis, 2102 - Support column, 2103 - Baffle, 2104 - Support plate, 2105 - Battery box; 2201 - Left - rear universal wheel, 2202 - Caster bracket 1, 2203 - Driving device 1, 2204 - Left - hand driving wheel, 2205 - Left - front universal wheel, 2206 - Caster bracket 2, 2207 - Caster bracket 3, 2208 - Right - front universal wheel, 2209 - Right - hand driving wheel, 2210 - Driving device 2, 2211 - Caster bracket 4, 2212 - Right - rear universal wheel;

[0043] 3000 - Visual recognition system, 3001 - Mounting plate, 3002 - Image processing module 1, 3003 - Image sensor 1, 3004 - OpenCV camera 1, 3005 - Tablet, 3006 - Image processing module 2, 3007 - Image sensor 2, 3008 - OpenCV camera 2;

[0044] 4000 - Sorting mechanism, 4100 - Big fruit collection box, 4200 - Sorting plate, 4300 - Small fruit collection box, 4400 - Air compression pusher; 4401 - Pneumatic pressure regulating valve, 4402 - Pneumatic pressure regulating pipe, 4403 - Exhaust hole, 4404 - Air compressor, 4405 - Rear cover, 4406 - Push rod, 4407 - Connecting device, 4408 - Rubber push head;

[0045] 5000 - Vehicle body. Detailed implementation mode

[0046] The present utility model will be further described below in conjunction with embodiments.

[0047] Refer to Figure 1 It can be seen that the present utility model provides a dragon fruit picking device capable of sorting, which is composed of a picking device 1000, a vehicle body 5000 is arranged below the picking device 1000, a visual recognition system 3000 is arranged on one side of the vehicle body 5000, a sorting mechanism 4000 is arranged inside the vehicle body, and a traveling mechanism 2000 is arranged below the vehicle body 5000.

[0048] The specific structures of each part are described as follows:

[0049] See Figures 2 - 5 It can be seen that the picking device 1000 includes a flexible picking arm 1100, a mechanical claw 1200 and a pneumatic pushing mechanism 1300; the mechanical claw 1200 is arranged at the end of the flexible picking arm 1100, the pneumatic pushing mechanism 1300 is arranged on one side of the flexible picking arm 1100, and the pneumatic pushing mechanism 1300 pushes away non - picked branches and stems, avoiding excessive interference and scratching of the picked dragon fruit by branches and stems during picking while assisting in picking; the flexible picking arm 1100 has three degrees of freedom, and the stepping motor controls the rotation angle so that the mechanical claw 1200 at its end can accurately grasp and pick the dragon fruit, and the picking device 1000 puts the picked dragon fruit into the square hole above the vehicle body 5000.

[0050] The flexible picking arm 1100 is composed of a bottom plate 1101, a picking arm seat 1102, a bearing 1 1103, a bearing 2 1104, a stepping motor 1 1105, a bearing 3 1106, a stabilizing arm 1107, a fixed clamping plate 1108, a synchronous belt 1109, a stepping motor 2 1110, a cross arm 1111, a stepping motor 3 1112, a stepping motor 4 1113, a vertical arm 1114 and a driving arm 1115;

[0051] At the upper end of the bottom plate 1101, there is a picking arm base 1102 for stabilizing the entire mechanism; a driving arm 1115 is arranged on the picking arm base 1102; an upright arm 1114 is connected to the inner side above the driving arm 1115; a stabilizing arm 1107 is arranged on the inner side above the upright arm 1114; a cross arm 1111 is arranged on the inner side above the stabilizing arm 1107; the picking arm base 1102 and the driving arm 1115 are connected by a first bearing 1103; the driving arm 1115 and the upright arm 1114 are connected by a second bearing 1104, and a first stepping motor 1105 is arranged at the second bearing 1104; the upright arm 1114 and the stabilizing arm 1107 are connected by a third bearing 1106, and a fourth stepping motor 1113 is arranged at the third bearing 1106; the stabilizing arm 1107 and the cross arm 1111 are connected by a fixed clamping plate 1108, and a third stepping motor 1112 is arranged at the fixed clamping plate 1108; a second stepping motor 1110 is arranged between the cross arms 1111; a synchronous belt 1109 is arranged on the right side plate of the cross arm 1111 and is driven by the second stepping motor 1110; the first stepping motor 1105 drives the upright arm 1114 to rotate, and the fourth stepping motor 1113 drives the stabilizing arm 1107 to rotate; the cross arm 1111 is connected to the stepping motor 1112 through the fixed clamping plate 1108, and the cross arm 1111 is driven to rotate by the third stepping motor 1112.

[0052] Both the driving arm 1115, the upright arm 1114, the stabilizing arm 1107 and the cross arm 1111 are provided with left and right arm plates; the first stepping motor 1105 and the fourth stepping motor 1113 are respectively clamped and connected between the upright arm 1114 and the stabilizing arm 1107 through the second bearing 1104 and the third bearing 1106.

[0053] The mechanical claw 1200 is composed of a three-claw hand 1201, a limiter 1202, a fixed seat 1203, a synchronous belt driven wheel 1204, a fifth stepping motor 1205, a fourth bearing 1206, and an adapter 1207.

[0054] The fifth stepping motor 1205 is installed on the fixed seat 1203, and the fixed seat 1203 is connected to the synchronous belt driven wheel 1204 through the fourth bearing 1206; the mechanical claw 1200 is connected to the flexible picking arm 1100 through the shaft of the synchronous belt driven wheel 1204 and the fourth bearing 1206; three three-claw hands 1201 are arranged at intervals along the mounting plate of the three-claw hand 1201, and each three-claw hand 1201 is hinged to the mounting plate. When the fifth stepping motor 1205 works, it drives the three-claw hand 1201 to rotate around the hinge of the mounting plate through the adapter 1207 to complete the actions of grasping and releasing the pitaya. When the fifth stepping motor 1205 rotates clockwise, the grasping is completed, and when the fifth stepping motor 1205 rotates counterclockwise, the release is completed; the limiter 1202 prevents the three-claw hand 1201 from expanding mechanically to avoid excessive expansion.

[0055] The pneumatic driving mechanism 1300 is composed of a cylinder support plate 1301, a cylinder 1302, a sliding rod 1303, a push plate 1304, a slide rail 1305, and a slide rail support plate 1306.

[0056] The cylinder 1302 is installed in the middle of the flexible picking arm 1100 through the cylinder support plate 1301; the driving end of the cylinder 1302 is connected to the push plate 1304, and sliding rods 1303 and slide rails 1305 are arranged on both sides of the push plate 1304; the sliding rod 1303 is slidably matched with the slide rail 1305; the sliding rod 1303 and the slide rail 1305 are supported by the slide rail support plate 1306.

[0057] As Figure 5 shown, the push plate 1304 is driven to drive the sliding rods 1303 on both sides to move on the slide rail 1305; a slide rail support plate 1306 is arranged below the slide rail 1305 to support the front part of the pneumatic push rod mechanism 1300; the sliding rod 1303 can push away non-picked branches and stems to a certain extent, avoiding being cut by the picked pitayas while assisting in picking;

[0058] Referring to Figures 6 - 7 it can be seen that the traveling mechanism 2000 is composed of a chassis 2101, support columns 2102, a baffle 2103, a support plate 2104, a battery box 2105, four universal wheels, and two driving wheels.

[0059] The chassis 2101 is used to bear the mass of the entire device; four universal wheels are respectively installed at the four corners below the chassis 2101; two driving wheels are respectively installed in the middle of the left and right sides of the chassis 2101; a support column 2012 is connected above the chassis 2101, and four support columns 2102 are provided, which are respectively arranged at the four corners of the chassis 2101; the support column 2102 is used to connect and set the support plate 2104, and the support plate 2104 is used to set the large fruit collection box 4100; the battery box 2105 is arranged in the space between the support columns 2102 of the chassis 2101, and a baffle 2103 is arranged at the top of the battery box 2105 to prevent the pitaya juice from dripping onto the battery box 2105 during the picking process; the battery box 2105 provides power for the two driving wheels to make the whole vehicle move forward.

[0060] The four universal wheels are respectively the left rear universal wheel 2201, the left front universal wheel 2205, the right front universal wheel 2208, and the right rear universal wheel 2212; the two driving wheels are respectively the left driving wheel 2204 and the right driving wheel 2209.

[0061] The left rear caster 2201, the left front caster 2205, the right front caster 2208, and the right rear caster 2212 are connected to the chassis 2101 through the caster bracket one 2202, the caster bracket two 2206, the caster bracket three 2207, and the caster bracket four 2211 respectively; the left drive wheel 2204 and the right drive wheel 2209 are connected to the chassis 2101 through the drive device one 2203 and the drive device two 2210 respectively.

[0062] Reference Figure 8 As can be seen, the visual recognition system 3000 is composed of the mounting plate 3001, the visual recognition device one and the visual recognition device two arranged on the mounting plate 3001. The visual recognition system 3000 is electrically connected to the control system and transmits image information to the control system.

[0063] The visual recognition device one is composed of the image processing module one 3002, the image sensor one 3003, and the OpenCV camera one 3004. The OpenCV camera one 3004 is connected to the image processing module one 3002 through the image sensor one 3003, and the image processing module one 3002 is connected to the mounting plate 3001; the visual recognition device one recognizes the pitaya image and judges the distance.

[0064] The visual recognition device two is composed of the flat plate 3005, the image processing module two 3006, the image sensor two 3007, and the OpenCV camera two 3008; the OpenCV camera two 3008 is connected to the image processing module two 3006 through the image sensor two 3007, and the image processing module two 3006 is connected to the mounting plate 3001 through the flat plate 3005. The visual recognition device two is used to detect the flatness of the road surface.

[0065] The visual recognition device one is placed obliquely to detect the front; the visual recognition device two is connected by the flat plate 3005 to detect directly below; the visual recognition device one and the visual recognition device two cooperate to judge the appropriate path, and through the operation of the drive device one 2203 and the drive device two 2210, the left drive wheel 2204 and the right drive wheel 2209 move. When the rotation speeds of the left drive wheel 2204 and the right drive wheel 2209 are the same, it moves in a straight line; when the rotation speeds of the left drive wheel 2204 and the right drive wheel 2209 are different, the direction can be adjusted;

[0066] Reference Figures 9 - 10 As can be seen, the sorting mechanism 4000 is composed of the large fruit collection box 4100, the sorting plate 4200, the small fruit collection box 4300, and the air compression pusher 4400.

[0067] The large fruit collection box 4100 is connected to the bottom of the sorting plate 4200. The sorting plate 4200 is inclined, there are round holes on the sorting plate 4200, and the small fruit collection box 4300 is arranged below the sorting plate 4200.

[0068] On one side of the sorting plate 4200 where the small fruit collection box 4300 is provided, there is an air compression pusher 4400. The air compression pusher 4400 pushes the rubber push head 4408, and the rubber push head 4408 corresponds to the position of the round hole.

[0069] The large fruit collection box 4100 is arranged on the support plate 2104; the small fruit collection box 4300 is arranged on the chassis 2101.

[0070] The sorting plate 4200 has a short plane on the upper part and a slope on the lower part. Round holes are provided at the slope part of the sorting plate 4200. The inclination of the slope is adjusted as needed to ensure that when the pitayas fall along the slope, the smaller pitayas can fall downward through the round holes. To prevent the falling pitayas from being damaged, a guiding slide plate can be provided below the round holes, and the falling pitayas slide into the small fruit collection box 4300 through the guiding slide plate.

[0071] The air compression pusher 4400 is composed of a pneumatic pressure regulating valve 4401, a pneumatic pressure regulating pipe 4402, an exhaust hole 4403, an air compressor 4404, a rear cover 4405, a push rod 4406, a connecting device 4407 and a rubber push head 4408.

[0072] The pneumatic pressure regulating valve 4401 is communicated with the air compressor 4404 through the pneumatic pressure regulating pipe 4402; one end of the air compressor 4404 is connected with one end of the push rod 4406, and the push rod 4406 drives the rubber push head 4408.

[0073] The air compression pusher 4400 uses air pressure as power. Air enters the air compressor 4404 through the pneumatic pressure regulating valve 4401 and the pneumatic pressure regulating pipe 4402, driving the push rod 4406 to reciprocate back and forth, so that the rubber push head 4408 gently pushes the pitayas stuck in the round holes to make them enter the large fruit collection box 4100.

[0074] One side of the rear cover 4405 is connected to the traveling mechanism 2000, and the other side of the rear cover 4405 is connected to the air compression pusher 4400.

[0075] A connecting device 4407 is provided at the push rod 4406 and is connected to the sorting plate 4200 to further improve the connection stability.

[0076] The pneumatic pressure regulating pipe 4402 is provided with an exhaust hole 4403, and the exhaust hole 4403 is used for exhausting air to facilitate the air compression pusher 4400 to stop working.

[0077] The rubber push head 4408 of the air compression type pusher 4400 corresponds to the round hole. After the pitaya is picked, it falls onto the sorting mechanism 4000 by the mechanical claw 1200. Due to gravity, the pitaya rolls along the slope. The small fruits enter the small fruit collection box through the round hole, and the large fruits continue to slide into the large fruit collection box 4100 after passing through the round hole. If the pitaya with a size similar to that of the round hole gets stuck at the round hole, the air compression type pusher 4400 works, pushing the rubber push head 4408 to push the pitaya at the round hole outwards from the round hole, so that it breaks away from the round hole and rolls into the large fruit collection box.

[0078] The working process of the pitaya picking device capable of sorting of the present utility model is as follows:

[0079] Step 1

[0080] First of all, the staff parks the device in the pitaya planting environment so that the pitaya tree is within the working range of the visual recognition device 1. The OpenCV camera 3004 detects the color information of the pitaya, which is transmitted to the image processing module 1 by the image sensor 1 3003, and it is judged whether it is a pitaya through processing and analysis; at the same time, the visual recognition device 2 starts to work. The OpenCV camera 3008 detects the depth information below, which is transmitted to the image processing module 2 3006 by the image sensor 2 3007, and it is judged whether it is relatively flat land. The information obtained by both is transmitted to the control system to judge the appropriate path. The control system uses the battery box 2105 as the energy source to provide power for the left driving wheel 2204 and the right driving wheel 2209, and corrects the direction to approach the nearest pitaya to a suitable position.

[0081] Step 2

[0082] When the pitaya is within the reasonable working range of the picking device 1000, the control system generates a pulse signal to make the stepping motor on the flexible picking arm 1100 work. First, the stepping motor 1105 works to make the vertical arm 1114 swing back and forth at a reasonable angular velocity, so that the mechanical claw 1200 quickly approaches the pitaya; then the stepping motor 1113 works to make the stable arm 1107 swing back and forth at a small angle, moving a small distance, and the mechanical claw 1200 approaches the pitaya more precisely; at this time, the stepping motor 1112 works to make the cross arm 1111 rotate, so that the mechanical claw 1200 slightly adjusts the inclination angle to achieve a suitable picking angle; finally, the stepping motor 1110 works, and through the transmission of the synchronous belt 1109, the mechanical claw 1200 is lifted, and the three-claw hand 1201 is opened upward by controlling the stopper 1202 to assume a gripping posture. At this time, the pneumatic pushing mechanism 1300 works, and the push plate 1304 is pushed by the cylinder 1302 to drive the slide rod 1303 to move forward along the slide rail 1305. The slide rod 1303 is divided into left and right rods and is square, pushing away the non-picked stems, assisting in picking while avoiding being scratched by the picked pitaya. The control system drives the vehicle body to move, so that the mechanical claw 1200 gently holds the pitaya, and the stepping motor 1205 works to make the mechanical claw 1200 rotate to screw off the pitaya. The pitaya picking work is completed.

[0083] Step Three

[0084] After the picking is completed, the control system controls the vehicle body to move towards the next nearest pitaya to be picked. At this time, multiple stepping motors make a return journey to control the mechanical claw 1200 to return to its position, and the cylinder 1302 retracts, driving the slide rod 1303 to return along the slide rail 1305. At this time, the mechanical claw 1200 returns to the initial position, and the three-claw hand 1201 continues to open, allowing the pitaya to fall and enter the sorting mechanism 4000 through the square hole above the vehicle body 5000.

[0085] The pitaya falls along the sorting plate 4200 by gravity. When passing through the round hole in the inclined plate part, the large fruits continue to fall along the inclined plate and enter the large fruit collection box 4100. The small fruits fall along the round hole because their sizes are smaller than the round hole and fall into the small fruit collection box 4300. Some pitayas have exactly the right size to fit the round hole and get stuck in the round hole. At this time, the air-compressed pusher 4400 works, driving the rubber pusher head 4408 to gently push the pitaya stuck in the round hole, so that it enters the large fruit collection box 4100. When the picking and sorting work is completed, the air is exhausted through the exhaust hole 4403, and the air-compressed pusher 4400 stops working. The pitaya sorting work is completed.

[0086] The above are only the preferred and feasible embodiments of the present utility model, and do not limit the scope of rights of the present utility model. Any equivalent structural changes made by using the content of the specification and drawings of the present utility model are included in the scope of rights of the present utility model.

Claims

1. A pitaya picking device capable of sorting, comprising a picking device (1000), a vehicle body (5000) disposed below the picking device (1000), a visual recognition system (3000) disposed on one side of the vehicle body (5000), a sorting mechanism (4000) disposed inside the vehicle body, and a walking mechanism (2000) disposed below the vehicle body (5000), characterized in that: The picking device (1000) comprises a smart picking arm (1100), a mechanical claw (1200) and a pneumatic driving mechanism (1300); the mechanical claw (1200) is arranged at the end of the smart picking arm (1100), and the pneumatic driving mechanism (1300) is arranged on one side of the smart picking arm (1100); the smart picking arm (1100) has three degrees of freedom, and a stepping motor controls the rotation angle so that the mechanical claw (1200) at the end can accurately grasp and pick dragon fruit; the picking device (1000) puts the picked dragon fruit into a square hole above the vehicle body (5000); The walking mechanism (2000) comprises a chassis (2101), four universal wheels and two driving wheels; the two driving wheels rotate to drive the chassis to move, and the four universal wheels support the chassis; The visual recognition system (3000) comprises a mounting plate (3001), a visual recognition device 1 and a visual recognition device 2 arranged on the mounting plate (3001); the visual recognition system (3000) is electrically connected to a control system to transmit image information to the control system; The sorting mechanism (4000) comprises a large fruit collection box (4100), a sorting plate (4200), a small fruit collection box (4300), and an air compression pusher (4400); the large fruit collection box (4100) is connected to the bottom of the sorting plate (4200); the sorting plate (4200) is arranged at an angle; a round hole is arranged on the sorting plate (4200); a small fruit collection box (4300) is arranged below the sorting plate (4200); an air compression pusher (4400) is arranged on one side of the sorting plate (4200) where the small fruit collection box (4300) is arranged; the air compression pusher (4400) pushes a rubber pusher (4408); the rubber pusher (4408) corresponds to the position of the round hole.

2. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The smart picking arm (1100) comprises a base plate (1101), a picking arm seat (1102), a bearing 1 (1103), a bearing 2 (1104), a stepping motor 1 (1105), a bearing 3 (1106), a stabilizing arm (1107), a fixing clamp (1108), a synchronous belt (1109), a stepping motor 2 (1110), a cross arm (1111), a stepping motor 3 (1112), a stepping motor 4 (1113), a vertical arm (1114) and a driving arm (1115). The upper end of the base plate (1101) is provided with a picking arm seat (1102) for stabilizing the picking arm. The entire mechanism is fixed; a driving arm (1115) is arranged on the picking arm seat (1102); a vertical arm (1114) is connected to the inner side of the driving arm (1115); a stabilizing arm (1107) is arranged on the inner side of the vertical arm (1114); a horizontal arm (1111) is arranged on the inner side of the vertical arm (1117); the picking arm seat (1102) and the driving arm (1115) are connected via a bearing 1 (1103); the driving arm (1115) and the vertical arm (1114) are connected via a bearing 2 (1104); a stepping motor 1 (1105) is arranged at the bearing 2 (1104); the vertical arm (111 4) is connected to the stabilizing arm (1107) through a bearing three (1106), and a stepper motor four (1113) is arranged at the bearing three (1106); the stabilizing arm (1107) is connected to the cross arm (1111) through a fixed clamping plate (1108), and a stepper motor three (1112) is arranged at the fixed clamping plate (1108); a stepper motor two (1110) is arranged between the cross arms (1111); a synchronous belt (1109) is arranged on the right side plate of the cross arm (1111), and the synchronous belt (1109) is driven by the stepper motor two (1110); the stepper motor one (1105) drives the vertical arm (1114 ) rotates, and stepper motor four (1113) drives the stabilizing arm (1107) to rotate; the cross arm (1111) is connected to the stepper motor 1112 through a fixed clamping plate (1108), and the cross arm (1111) is driven to rotate by the stepper motor three (1112); the driving arm (1115), the vertical arm (1114), the stabilizing arm (1107) and the cross arm (1111) are all provided with left and right arm plates; the vertical arm (1114) and the stabilizing arm (1107) are respectively clamped and connected to the stepper motor one (1105) and the stepper motor four (1113) through the bearing two (1104) and the bearing three (1106).

3. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The mechanical claw (1200) comprises a three-claw claw hand (1201), a stopper (1202), a fixing seat (1203), a synchronous belt driven wheel (1204), a stepper motor five (1205), a bearing four (1206), and an adapter (1207); the stepper motor five (1205) is installed on the fixing seat (1203), and the fixing seat (1203) is connected to the synchronous belt driven wheel (1204) through the bearing four (1206); the mechanical claw (1200) is connected to the smart picking arm (1207) through the shaft of the synchronous belt driven wheel (1204) and the bearing four (1206). 1100); three three-claw grippers (1201) are arranged at intervals along the mounting plate, each three-claw gripper (1201) is hingedly connected to the mounting plate, and the stepper motor five (1205) drives the three-claw gripper (1201) to rotate around the hinge of the mounting plate through the adapter (1207) to complete the action of grasping and releasing the dragon fruit, and grasping is completed when the stepper motor five (1205) rotates clockwise, and releasing is completed when the stepper motor five (1205) rotates counterclockwise; the limiter (1202) mechanically blocks the expansion of the three-claw gripper (1201) to avoid excessive expansion.

4. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The pneumatic propulsion mechanism (1300) is composed of a cylinder support plate (1301), a cylinder (1302), a sliding rod (1303), a push plate (1304), a slide rail (1305), and a slide rail support plate (1306); the cylinder (1302) is installed in the middle of the flexible picking arm (1100) through the cylinder support plate (1301); the driving end of the cylinder (1302) is connected to the push plate (1304), and sliding rods (1303) and slide rails (1305) are provided on both sides of the push plate (1304); the sliding rod (1303) and the slide rail (1305) are slidably matched with each other; the sliding rod (1303) and the slide rail (1305) are supported by the slide rail support plate (1306).

5. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The walking mechanism (2000) further comprises support columns (2102), baffles (2103), support plates (2104), and a battery box (2105); four support columns (2102) are provided, and are respectively provided at four corners of the chassis (2101); the support columns (2102) are used to connect and set the support plates (2104), and the support plates (2104) are used to set the large fruit collection box (4100); the battery box (2105) is provided in the space between the support columns (2102) of the chassis (2101), and a baffle (2103) is provided at the top of the battery box (2105) to prevent pitaya juice from dripping onto the battery box (2105) during the picking process; the battery box (2105) provides power for two driving wheels to enable the entire vehicle to move forward.

6. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The four universal wheels are respectively a left rear universal wheel (2201), a left front universal wheel (2205), a right front universal wheel (2208), and a right rear universal wheel (2212); the two driving wheels are respectively a left driving wheel (2204) and a right driving wheel (2209); the left rear universal wheel (2201), the left front universal wheel (2205), the right front universal wheel (2208), and the right rear universal wheel (2212) are connected to the chassis (2101) via a caster bracket 1 (2202), a caster bracket 2 (2206), a caster bracket 3 (2207), and a caster bracket 4 (2211); the left driving wheel (2204) and the right driving wheel (2209) are connected to the chassis (2101) via a driving device 1 (2203) and a driving device 2 (2210), respectively.

7. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The visual recognition device 1 is composed of an image processing module 1 (3002), an image sensor 1 (3003), and an OpenCV camera 1 (3004); the OpenCV camera 1 (3004) is connected to the image processing module 1 (3002) via the image sensor 1 (3003), and the image processing module 1 (3002) is connected to the mounting plate (3001); the visual recognition device 2 is composed of a flat plate (3005), an image processing module 2 (3006), an image sensor 2 (3007), and an OpenCV camera 2 (3008); the OpenCV camera 2 (3008) is connected to the image processing module 2 (3006) via the image sensor 2 (3007), and the image processing module 2 (3006) is connected to the mounting plate (3001) via the flat plate (3005).

8. The pitaya picking device capable of being sorted according to claim 1, characterized in that: The air compression pusher (4400) comprises an air pressure regulating valve (4401), an air pressure regulating tube (4402), an exhaust hole (4403), an air compressor (4404), a rear cover (4405), a push rod (4406), a connecting device (4407) and a rubber push head (4408); the air pressure regulating valve (4401) is connected to the air compressor (4404) through the air pressure regulating tube (4402); one end of the air compressor (4404) is connected to one end of the push rod (4406), and the push rod (4406) drives the rubber push head (4408).

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