Intelligent tomato picking device

Abstract

The utility model relates to the technical field of tomato picking, and discloses an intelligent tomato picking device which comprises a storage box, a bottom plate is arranged at the bottom of the storage box, a walking device is arranged at the bottom of the bottom plate, a rotating disc is arranged at the top of the storage box, and a mechanical arm is arranged at the top of the rotating disc. A hydraulic rod is arranged at the top of the mechanical arm, a pneumatic shear is arranged at the output end of the hydraulic rod, a 3D deep sense camera is arranged on the upper portion of the pneumatic shear, a collecting hole is formed in the top of the storage box, a classification box is arranged at the top of the storage box, and the bottom of the classification box communicates with the collecting hole. The top of the classification box is fixedly connected to one end of a second conveying pipe. According to the tomato picking robot, the pneumatic shears are controlled by the controller to be closed, and tomatoes can fall into the first collecting pipe, so that the problem that the tomatoes are wasted due to the fact that other tomatoes to be picked are shaken off when a traditional tomato picking robot is used for picking in a screwing and pulling mode is solved.

Description

Technical Field

[0001] This utility model relates to the field of tomato harvesting technology, and in particular to an intelligent tomato harvesting device. Background Technology

[0002] Tomato cultivation involves several key steps. First, site selection is crucial. Choose a location with ample sunlight, loose, fertile, and well-drained soil to provide a solid foundation for tomato growth. Before sowing, pre-germinate the seeds to improve germination rate, then carefully cultivate the seedlings in a seedbed. Once the seedlings reach the appropriate height, transplant them to the field with proper spacing between plants and rows. Throughout their growth, ensure a sufficient and balanced water supply, and regularly apply fertilizers rich in nitrogen, phosphorus, and potassium to meet the plant's nutritional needs. Simultaneously, closely monitor for pests and diseases, and promptly control them to prevent their spread. To ensure orderly growth of the tomato plants, provide supports to guide the vines. This not only improves ventilation and light penetration, reducing disease, but also facilitates harvesting when the fruit is ripe. Through these meticulous management steps, a bountiful harvest of brightly colored and delicious tomatoes can be achieved.

[0003] Traditional tomato harvesting robots often use twisting and pulling methods to harvest tomatoes, which often shakes off other tomatoes waiting to be harvested, causing ripe tomatoes to break and affecting the harvest, thus resulting in tomato waste.

[0004] Traditional tomato harvesting robots often use twisting and pulling methods to harvest tomatoes, which often shakes other tomatoes off the ground and damages ripe tomatoes, thus affecting the harvest and causing tomato waste. To address this issue, we have proposed an intelligent tomato harvesting device. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an intelligent tomato harvesting device, which aims to improve the problem that traditional tomato harvesting robots often use twisting and pulling methods to harvest tomatoes. This often shakes off other tomatoes waiting to be harvested, causing ripe tomatoes to fall and break, thus affecting the harvest and causing tomato waste.

[0006] To achieve the above objectives, this utility model provides the following technical solution: An intelligent tomato harvesting device includes a storage box, a base plate at the bottom of the storage box, a walking device at the bottom of the base plate, a turntable at the top of the storage box, a robotic arm at the top of the turntable, a hydraulic rod at the top of the robotic arm, a pneumatic shear at the output end of the hydraulic rod, a 3D depth-sensing camera at the upper part of the pneumatic shear, a collection hole at the top of the storage box, a sorting box at the top of the storage box, a bottom of the sorting box communicating with the collection hole, a top of the sorting box fixedly connected to one end of a second conveying pipe, a other end of the second conveying pipe fixedly connected to the tail of a first collection pipe, an anti-fall ring on the outer wall of the end of the first collection pipe, an mounting plate on the outer wall of the first collection pipe, the mounting plate fixedly connected to both ends of a sleeve, and the sleeve rotatably connected to the outer wall of the hydraulic rod.

[0007] Preferably, the walking device includes a chassis, the top of which is fixedly connected to the bottom of a base plate. A drive motor is installed inside the chassis, the output end of which is fixedly connected to one end of a rotating rod, the other end of which is fixedly connected to the middle of a drive wheel, and the outer wall of the drive wheel is rotatably connected to the inner wall of the track.

[0008] Preferably, the mounting plate has mounting holes at both ends, and the first collecting tube is located inside the mounting holes.

[0009] Preferably, a second collection pipe is fixedly connected to the end of the mounting plate, an anti-fall ring is provided on the outer wall of the end of the second collection pipe, the tail of the second collection pipe is fixedly connected to one end of the first conveying pipe, the other end of the first conveying pipe is fixedly connected to the top of the sorting box on the side away from the second conveying pipe, and a partition is provided inside the sorting box on the side close to the first conveying pipe.

[0010] Preferably, the outer wall of the hydraulic rod is provided with a limit block, the sleeve is located between the limit blocks, the outer wall of the sleeve is provided with a toothed ring, the outer wall of the toothed ring is meshed with a gear, the middle part of the gear is fixedly connected to one end of the transmission shaft, the other end of the transmission shaft is fixedly connected to the output end of the servo motor, and the outer wall of the servo motor is fixedly connected to the outer wall of the hydraulic rod.

[0011] Preferably, the sorting box is provided with a grading rod inside, and the grading rod is provided with a grading rod inside. The side of the two grading rods closer to the second conveying pipe is higher than the side farther away from the second conveying pipe, and the relative distance between the two grading rods on the side closer to the second conveying pipe is smaller than the distance between the side farther away from the second conveying pipe.

[0012] Preferably, the interior of the storage box is divided into storage rooms by a side panel, a first sliding plate is provided inside the storage box, a second sliding plate is provided at the bottom of the first sliding plate, an outlet is provided on the side of the storage box away from the first sliding plate, and a baffle is provided outside the outlet.

[0013] Preferably, both the storage box and the sorting box are equipped with ultrasonic detectors on their tops. The storage box contains a controller and a navigation module. The controller is electrically connected to the navigation module, the ultrasonic detector, the 3D depth-sensing camera, the pneumatic shears, the robotic arm, the hydraulic rod, the servo motor, and the drive motor via wires. The navigation module is used for precise positioning and harvesting path planning. The 3D depth-sensing camera contains a distance detection module and an image recognition module.

[0014] This utility model has the following beneficial effects:

[0015] 1. In this utility model, a robotic arm supports a hydraulic rod in front of the tomato to be picked. A 3D depth-sensing camera identifies ripe tomatoes and calculates the distance to the ripe tomato. A controller opens the pneumatic shears, and the hydraulic rod pushes the pneumatic shears to the top of the tomato. The controller then closes the pneumatic shears, causing the tomato to fall into the first collection tube without disturbing other tomatoes. This improves upon the traditional tomato picking robot method of twisting and pulling, which often shakes other tomatoes and damages ripe tomatoes, affecting the harvest and causing tomato waste.

[0016] 2. In this utility model, the integrity of tomato fruits can be identified by a 3D depth-sensing camera. When insect holes or incomplete rotten parts are detected in the tomato fruits, feedback is sent to the controller in a timely manner. The controller then controls the servo motor to output rotational power, which drives the sleeve to rotate through gears. This causes the second collection tube to be positioned below the pneumatic shears. The pneumatic shears then pick up the rotten tomatoes. This allows for the harvesting of ripe tomatoes as well as rotten tomatoes, thus preventing rotten tomatoes from contaminating other tomatoes.

[0017] 3. In this utility model, the grading rod allows large tomatoes to roll to one side of the partition, while small tomatoes fall directly through the grading rod, thus screening the tomatoes by size. This allows for the sorting of tomatoes while collecting them. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the left front of an intelligent tomato harvesting device proposed in this utility model;

[0019] Figure 2 This is a partial structural diagram of the hydraulic rod of an intelligent tomato harvesting device proposed in this utility model;

[0020] Figure 3 This is a partial structural diagram of the pneumatic shear section of an intelligent tomato harvesting device proposed in this utility model.

[0021] Figure 4 This is a partial structural diagram of the sleeve of an intelligent tomato harvesting device proposed in this utility model.

[0022] Figure 5 This is a partial cross-sectional structural diagram of the sorting box of an intelligent tomato harvesting device proposed in this utility model.

[0023] Figure 6 This is a partial structural diagram of the storage box of an intelligent tomato harvesting device proposed in this utility model.

[0024] Figure 7 This is a partial cross-sectional structural diagram of the storage box of an intelligent tomato harvesting device proposed in this utility model.

[0025] Legend:

[0026] 1. Robotic arm; 2. First conveying pipe; 3. Second conveying pipe; 4. Ultrasonic probe; 5. Turntable; 6. Storage box; 7. Sorting box; 8. Base plate; 9. Chassis; 10. Track; 11. Drive wheel; 12. Limiting block; 13. 3D depth sensing camera; 14. Pneumatic shears; 15. Servo motor; 16. Sleeve; 17. Gear ring; 18. First collection pipe; 19. Anti-fall ring; 20. Second collection pipe; 21. Drive shaft; 22. Gear; 23. Mounting plate; 24. Mounting hole; 25. Partition; 26. Grading rod; 27. Collection hole; 28. First sliding plate; 29. ​​Second sliding plate; 30. Hydraulic rod; 31. Baffle. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Reference Figure 1-7An embodiment of this utility model provides an intelligent tomato harvesting device comprising a storage box 6, a base plate 8 at the bottom of the storage box 6, a walking device at the bottom of the base plate 8, a turntable 5 at the top of the storage box 6, a robotic arm 1 at the top of the turntable 5, a hydraulic rod 30 at the top of the robotic arm 1, a pneumatic shear 14 at the output end of the hydraulic rod 30, a 3D depth-sensing camera 13 at the upper part of the pneumatic shear 14, a collection hole 27 at the top of the storage box 6, a sorting box 7 at the top of the storage box 6, the bottom of the sorting box 7 communicating with the collection hole 27, the top of the sorting box 7 being fixedly connected to one end of a second conveying pipe 3, the other end of the second conveying pipe 3 being fixedly connected to the tail of a first collecting pipe 18, an anti-fall ring 19 being provided on the outer wall of the end of the first collecting pipe 18, an mounting plate 23 being provided on the outer wall of the first collecting pipe 18, the mounting plate 23 being fixedly connected to both ends of a sleeve 16, and the sleeve 16 being rotatably connected to the outer wall of the hydraulic rod 30.

[0029] Specifically, the storage box 6 stores tomatoes, the base plate 8 supports the storage box 6, the turntable 5 drives the robotic arm 1 to rotate, the robotic arm 1 supports the hydraulic rod 30, the hydraulic rod 30 pushes and pulls the pneumatic shears 14, the pneumatic shears 14 cuts the branches, the 3D depth-sensing camera 13 identifies the tomato fruit and can identify the ripeness and integrity of the tomato fruit, the sorting box 7 separates the tomatoes by size, the second conveying pipe 3 conveys the tomatoes, the first collecting pipe 18 receives the tomatoes, the anti-fall ring 19 protects the tomatoes to prevent them from falling from the side, the mounting plate 23 supports the first collecting pipe 18, and the sleeve 16 fixes the mounting plate 23. Thus, the pneumatic shears 14 cuts the tomatoes, and then the tomatoes are collected through the first collecting pipe 18 and the second conveying pipe 3.

[0030] Reference Figure 1-6 The walking device includes a chassis 9, the top of which is fixedly connected to the bottom of the base plate 8. A drive motor is installed inside the chassis 9. The output end of the drive motor is fixedly connected to one end of a rotating rod, and the other end of the rotating rod is fixedly connected to the middle of the drive wheel 11. The outer wall of the drive wheel 11 is rotatably connected to the inner wall of the track 10.

[0031] Specifically, this enables the harvesting device to move smoothly.

[0032] Reference Figure 3-4 The mounting plate 23 has mounting holes 24 at both ends, and the first collection tube 18 is located inside the mounting holes 24.

[0033] Specifically, the mounting hole 24 serves to fix the first collecting tube 18.

[0034] Reference Figure 1-4 The end of the mounting plate 23 is fixedly connected to a second collection pipe 20. The outer wall of the end of the second collection pipe 20 is provided with an anti-fall ring 19. The tail of the second collection pipe 20 is fixedly connected to one end of the first conveying pipe 2. The other end of the first conveying pipe 2 is fixedly connected to the top of the sorting box 7 on the side away from the second conveying pipe 3. The inside of the sorting box 7 is provided with a partition 25 on the side close to the first conveying pipe 2.

[0035] Specifically, the second collection pipe 20 can collect incomplete rotten tomatoes, the first conveying pipe 2 can convey incomplete rotten tomatoes, and the partition 25 can separate incomplete rotten tomatoes from normal tomatoes.

[0036] Reference Figure 1-4 The outer wall of the hydraulic rod 30 is provided with a limit block 12, and the sleeve 16 is located between the limit blocks 12. The outer wall of the sleeve 16 is provided with a toothed ring 17, and the outer wall of the toothed ring 17 is meshed with a gear 22. The middle part of the gear 22 is fixedly connected to one end of the transmission shaft 21, and the other end of the transmission shaft 21 is fixedly connected to the output end of the servo motor 15. The outer wall of the servo motor 15 is fixedly connected to the outer wall of the hydraulic rod 30.

[0037] Specifically, the limit block 12 can prevent the sleeve 16 from moving back and forth, the servo motor 15 can output rotational power, the transmission shaft 21 can transmit rotational power to the gear 22, the gear 22 can transmit rotational power to the gear ring 17, and the gear ring 17 can drive the sleeve 16 to rotate.

[0038] Reference Figure 1-5 The sorting box 7 is equipped with a grading rod 26. The grading rod 26 is equipped with a grading rod 26 inside. The side of the two grading rods 26 closer to the second conveying pipe 3 is higher than the side farther away from the second conveying pipe 3. The relative distance between the two grading rods 26 on the side closer to the second conveying pipe 3 is smaller than that on the side farther away from the second conveying pipe 3.

[0039] Specifically, the grading rods 26 can support the tomatoes. The side of the two grading rods 26 closer to the second conveying pipe 3 is higher than the side farther away from the second conveying pipe 3, which allows the tomatoes to roll. The relative distance between the two grading rods 26 closer to the second conveying pipe 3 and the side farther away from the second conveying pipe 3 is smaller, which allows small tomatoes to fall directly, while large tomatoes fall after rolling, thus grading them by size.

[0040] Reference Figure 1-7The interior of the storage box 6 is divided into storage rooms by a side panel. The storage box 6 is equipped with a first sliding plate 28, and a second sliding plate 29 is provided at the bottom of the first sliding plate 28. An outlet is provided on the side of the storage box 6 away from the first sliding plate 28, and a baffle 31 is provided on the outside of the outlet.

[0041] Specifically, the first slide 28 allows the tomato to slide down slowly, thus protecting the tomato. The second slide 29 allows the tomato to roll backward, thus making full use of the space. The baffle 31 prevents the tomato from falling. After collection, the baffle 31 is opened to output the tomato.

[0042] Reference Figure 1-7 Both the storage box 6 and the sorting box 7 are equipped with ultrasonic detectors 4 on their tops. The storage box 6 contains a controller and a navigation module. The controller is electrically connected to the navigation module, ultrasonic detectors 4, 3D depth-sensing camera 13, pneumatic shears 14, robotic arm 1, hydraulic rod 30, servo motor 15, and drive motor via wires. The navigation module is used for precise positioning and picking path planning. The 3D depth-sensing camera 13 contains a distance detection module and an image recognition module.

[0043] Specifically, the ultrasonic sensor 4 can identify environmental conditions and avoid obstacles in time. The controller enables the navigation module, ultrasonic sensor 4, 3D depth-sensing camera 13, pneumatic shears 14, robotic arm 1, hydraulic rod 30, servo motor 15 and drive motor to work together to achieve intelligent harvesting.

[0044] Working Principle: The navigation module inputs the harvesting path into the controller, which then controls the drive motor to rotate the drive wheels, which in turn drive the tracks, allowing the device to move according to the set parameters. During movement, an ultrasonic sensor monitors the road conditions in real time and avoids obstacles. Upon reaching the harvesting area, the drive wheels lift the hydraulic rod to the desired harvesting height. A 3D depth-sensing camera performs image recognition, identifying ripe tomatoes and incomplete or rotten tomatoes. The pneumatic shears are then activated, and the hydraulic rod pushes the shears to the ripe tomato branches. The shears then close to harvest the tomatoes, which fall into the first collection tube and then through the second conveyor tube into the sorting box. Based on the size of the tomatoes, they roll on the grading bar and fall into the corresponding collection holes. When it is necessary to harvest incomplete or rotten tomatoes, the servo motor is activated, which, through gear meshing with the gear ring, rotates the sleeve, positioning the second collection tube below the pneumatic shears. After being harvested by the pneumatic shears, the rotten tomatoes pass through the first conveyor tube into the collection holes at the bottom of the compartment formed by the partition, thus harvesting the rotten tomatoes.

[0045] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An intelligent tomato harvesting device, comprising a storage box (6), characterized in that: The storage box (6) has a base plate (8) at its bottom, a walking device at the bottom of the base plate (8), a turntable (5) at its top, a robotic arm (1) at its top, a hydraulic rod (30) at its top, a pneumatic shear (14) at the output end of the hydraulic rod (30), a 3D depth-sensing camera (13) at the top of the pneumatic shear (14), a collection hole (27) at the top of the storage box (6), and a sorting hole (27) at the top of the storage box (6). The bottom of the sorting box (7) is connected to the collection hole (27). The top of the sorting box (7) is fixedly connected to one end of the second conveying pipe (3). The other end of the second conveying pipe (3) is fixedly connected to the tail of the first collection pipe (18). The outer wall of the end of the first collection pipe (18) is provided with an anti-fall ring (19). The outer wall of the first collection pipe (18) is provided with an mounting plate (23). The mounting plate (23) is fixedly connected to both ends of the sleeve (16). The sleeve (16) is rotatably connected to the outer wall of the hydraulic rod (30).

2. The intelligent tomato harvesting device according to claim 1, characterized in that: The walking device includes a chassis (9), the top of which is fixedly connected to the bottom of the base plate (8). A drive motor is installed inside the chassis (9). The output end of the drive motor is fixedly connected to one end of a rotating rod. The other end of the rotating rod is fixedly connected to the middle of a drive wheel (11). The outer wall of the drive wheel (11) is rotatably connected to the inner wall of the track (10).

3. The intelligent tomato harvesting device according to claim 1, characterized in that: The mounting plate (23) has mounting holes (24) at both ends, and the first collecting tube (18) is located inside the mounting holes (24).

4. The intelligent tomato harvesting device according to claim 1, characterized in that: The end of the mounting plate (23) is fixedly connected to a second collection pipe (20). The outer wall of the end of the second collection pipe (20) is provided with an anti-fall ring (19). The tail of the second collection pipe (20) is fixedly connected to one end of the first conveying pipe (2). The other end of the first conveying pipe (2) is fixedly connected to the top of the sorting box (7) away from the second conveying pipe (3). The inside of the sorting box (7) is provided with a partition (25) on the side close to the first conveying pipe (2).

5. The intelligent tomato harvesting device according to claim 1, characterized in that: The outer wall of the hydraulic rod (30) is provided with a limiting block (12), the sleeve (16) is located between the limiting blocks (12), the outer wall of the sleeve (16) is provided with a toothed ring (17), the outer wall of the toothed ring (17) is meshed with a gear (22), the middle part of the gear (22) is fixedly connected to one end of the transmission shaft (21), the other end of the transmission shaft (21) is fixedly connected to the output end of the servo motor (15), and the outer wall of the servo motor (15) is fixedly connected to the outer wall of the hydraulic rod (30).

6. The intelligent tomato harvesting device according to claim 1, characterized in that: The sorting box (7) is provided with a grading rod (26) inside. The grading rod (26) is provided with a grading rod (26) inside. The side of the two grading rods (26) closer to the second conveying pipe (3) is higher than the side away from the second conveying pipe (3). The relative distance between the two grading rods (26) closer to the second conveying pipe (3) is smaller than the relative distance between the two grading rods (26) away from the second conveying pipe (3).

7. The intelligent tomato harvesting device according to claim 1, characterized in that: The interior of the storage box (6) is divided into storage rooms by a side panel. A first sliding plate (28) is provided inside the storage box (6). A second sliding plate (29) is provided at the bottom of the first sliding plate (28). An outlet is provided on the side of the storage box (6) away from the first sliding plate (28). A baffle (31) is provided outside the outlet.

8. The intelligent tomato harvesting device according to claim 1, characterized in that: Both the storage box (6) and the sorting box (7) are equipped with ultrasonic probes (4) on their tops. The storage box (6) is equipped with a controller and a navigation module. The controller is electrically connected to the navigation module, the ultrasonic probe (4), the 3D depth-sensing camera (13), the pneumatic shears (14), the robotic arm (1), the hydraulic rod (30), the servo motor (15), and the drive motor via wires. The navigation module is used for precise positioning and picking path planning. The 3D depth-sensing camera (13) is equipped with a distance detection module and an image recognition module.

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