Automatic apple picking vehicle

Abstract

The utility model discloses an automatic apple picking vehicle, which relates to the field of agricultural machinery and comprises a vehicle body, a grading detection table is arranged on the vehicle body, and the grading detection table can weigh apples and perform visual detection grading; the mechanical arm is arranged on the vehicle body and can be used for picking apples and placing the apples on the grading detection table; the sliding ways are obliquely arranged, the multiple sliding ways are annularly arranged on the outer side of the grading detection table, a fruit basket is arranged at the tail end of each sliding way, and the grading detection table can feed graded apples into the corresponding sliding ways and roll into the corresponding fruit baskets through the sliding ways. According to the automatic apple picking vehicle, picked apples can be automatically collected, graded and boxed, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, in particular to an automatic picking car of apple. BACKGROUND

[0002] In the apple harvesting process, the traditional manual picking method is of high labor intensity and low efficiency. Therefore, the automatic picking device emerges as the times require, the inventor understands that an automatic picking device adopts a mechanical arm and a visual identification system to complete apple picking, although some picking efficiency is improved, but the integration degree is limited, and the farmer still needs to rely on manual work to grade and box the picked apples when using the automatic picking device, and the overall operation efficiency is still low. UTILITY MODEL CONTENT

[0003] The utility model aims at providing an automatic picking car of apple to solve the problems in the prior art, and can automatically collect, grade and box the picked apples, thereby improving the operation efficiency.

[0004] To achieve the above-mentioned purpose, the utility model provides the following scheme:

[0005] The utility model provides an automatic picking car of apple, which comprises:

[0006] A car body is provided with a grading detection table, and the grading detection table can weigh and visually detect and grade apples;

[0007] A mechanical arm is arranged on the car body, can pick apples and place them on the grading detection table;

[0008] A slide is arranged obliquely, and a plurality of slides are arranged around the grading detection table, and each slide is provided with a fruit basket at the end, and the grading detection table can send the graded apples into the corresponding slide and roll into the corresponding fruit basket through the slide.

[0009] Preferably, one end of the car body is provided with a binocular camera, the binocular camera is connected with a general control computer on the car body, and the general control computer can automatically plan a path and control the movement track of the car body according to the real-time image collected by the binocular camera.

[0010] Preferably, the mechanical arm comprises a mechanical arm body, a mechanical claw is arranged at the end of the mechanical arm body, and the general control computer can control the mechanical claw to pick apples and place them on the grading detection table.

[0011] Preferably, an RGBD camera is arranged at the position close to the mechanical claw of the mechanical arm, the RGBD camera is connected with the general control computer, and the collected RGB image and depth information are transmitted to the general control computer.

[0012] Preferably, a hierarchical detection table support is fixed on the vehicle body, the hierarchical detection table is movably arranged on the top of the hierarchical detection table support, a rotary motor is arranged on the hierarchical detection table support, the rotary shaft of the rotary motor is connected with the hierarchical detection table, and the rotary motor can drive the hierarchical detection table to rotate on the hierarchical detection table support.

[0013] Preferably, a weighing module is arranged at the bottom of the hierarchical detection table, the side wall of the hierarchical detection table is made of transparent material, and a detection camera is arranged around the outside of the hierarchical detection table.

[0014] Preferably, a hierarchical detection table extension bridge is hingedly connected at the outlet of the hierarchical detection table, the bottom of the hierarchical detection table extension bridge is hingedly connected with the bottom of the outlet of the hierarchical detection table, and the top can be rotated to be connected with the upper side of the slide; and a driving device is arranged on the side wall of the hierarchical detection table, and the driving device is used to drive the hierarchical detection table extension bridge to rotate around the hinge point.

[0015] Preferably, the driving device comprises an electric push rod, the electric push rod is rotatably arranged on the side wall of the hierarchical detection table, and the end of the electric push rod is connected with one side of the hierarchical detection table extension bridge through a rotary shaft.

[0016] Preferably, a plurality of detection camera supports are arranged on the hierarchical detection table support, and the detection camera is horizontally fixed on the detection camera support.

[0017] The present application has the following technical effects compared with the prior art:

[0018] The present application can automatically walk, and uses a mechanical arm to automatically pick apples, places the picked apples on the hierarchical detection table, and then performs weighing and appearance visual detection, so that the apples can be classified according to weight and appearance, and then sent into the corresponding slide, and then rolled into the corresponding fruit basket through the slide, thereby realizing unmanned apple picking, classification and boxing, greatly reducing the number of workers required for apple picking, and improving the efficiency of apple orchard harvesting. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 Structure diagram of the apple automatic picking vehicle according to one of the embodiments of the present application;

[0021] Figure 2 Enlarged diagram of the grading detection table of the apple automatic picking vehicle according to one of the embodiments of the present application;

[0022] Figure 3 Diagram of the grading detection table extension bridge and the slide in the butt joint state according to one of the embodiments of the present application.

[0023] In the figure: 1-vehicle body; 2-master control computer; 3-binocular camera; 4-fruit basket; 5-slide; 6-mechanical arm; 7-RGBD camera; 8-grading detection table support; 9-rotary motor; 10-slide hinge; 11-rotary shaft; 12-detection camera; 13-electric push rod; 14-detection camera support; 15-grading detection table; 16-weighing module; 17-grading detection table extension bridge. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] The apple automatic picking vehicle is provided to solve the problems in the prior art and to automatically collect, grade and pack the picked apples.

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be described in further detail below with reference to the drawings and specific embodiments.

[0027] The apple automatic picking vehicle provided by the present application comprises a vehicle body, a master control computer, a binocular camera, a fruit basket, a mechanical arm, a RGBD camera, a grading detection table support, a rotary motor, a slide hinge, a rotary shaft, a detection camera, an electric push rod, a detection camera support, a grading detection table, a weighing module and a grading detection table extension bridge. Figure 1 , Figure 2 , Figure 3As shown, including the vehicle body 1, the vehicle body 1 of the embodiment adopts a tracked structure, which is provided with a general control computer 2, one end of the vehicle body 1 is provided with a binocular camera 3, the binocular camera 3 is connected with the general control computer 2 on the vehicle body 1, the general control computer 2 can control the moving track of the vehicle body 1 according to the real-time image collected by the binocular camera 3; The vehicle body 1 is provided with a hierarchical detection table 15, the hierarchical detection table 15 can weigh and visually detect and grade apples; The vehicle body 1 is provided with a mechanical arm 6 at both ends, which can pick apples and place them on the hierarchical detection table 15; A plurality of inclined slide ways 5 are arranged around the outside of the hierarchical detection table 15, and a fruit basket 4 is arranged below each slide way 5; The hierarchical detection table 15 can send the graded apples into the corresponding slide way 5, and the apples fall into the corresponding fruit basket 4 through the slide way 5. Thus, the automatic picking, grading and basket loading operation can be realized, and the work efficiency is greatly improved.

[0028] The mechanical arm 6 structure belongs to a mature technology, which generally includes a flexible mechanical arm body, the mechanical arm body can be driven by the general control computer 2, and the operator can control the angle and position of the mechanical arm body by using the general control computer 2 or a remote controller, and the mechanical arm body is provided with a mechanical claw at the end, the mechanical claw is also a known structure, which can pick apples and place the picked apples on the hierarchical detection table 15; In order to realize the differentiation of the state of the apple and the detection of the surrounding environment during the picking process, in an embodiment, an RGBD camera 7 is arranged at the position close to the mechanical claw of the mechanical arm 6, the RGBD camera 7 is connected with the general control computer 2, the RGBD camera 7 on the mechanical arm 6 transmits the collected RGB image and depth information of the environment to the general control computer 2, the relative position information of the target apple from the mechanical claw on the mechanical arm 6 can be obtained in real time after the general control computer 2 processes the image, then the general control computer 2 controls the mechanical arm 6 to move from the current position to the apple position and executes the apple grabbing action, and the apple is placed on the hierarchical detection table 15 after successful picking.

[0029] The hierarchical detection table 15 is provided with a weighing module 16, which can weigh the picked apples, and in order to better grade the apples, a plurality of detection cameras 12 are arranged around the hierarchical detection table 15 in the embodiment, which can detect the appearance of the apples on the hierarchical detection table 15, judge the quality of the apples (whether there is bruise, appearance shape, etc.), determine the grade, and then convey the apples to the corresponding slide way 5, and then roll into the corresponding fruit basket 4 along the slide way 5, so as to realize the grading and basket loading operation of the apples; In order to realize automatic basket loading, a plurality of horizontal hydraulic cylinders arranged in different directions can be arranged on the hierarchical detection table 15, the cylinder rod of the hydraulic cylinder is driven to extend and retract to drive the apples on the hierarchical detection table 15 to roll into the slide way 5 on the opposite side of the hydraulic cylinder, so as to realize the purpose that the apples can roll into different slide ways 5 as needed, thereby realizing the grading and basket loading of the apples.

[0030] In a preferred embodiment, in order to better realize the grading basket loading operation, a grading detection table support 8 is fixed on the vehicle body 1, a grading detection table 15 is movably arranged on the top of the grading detection table support 8, a vertical rotary motor 9 is arranged on the grading detection table support 8, a rotating shaft 11 on the top of the rotary motor 9 is fixedly connected with the bottom of the grading detection table 15, and the rotary motor 9 can drive the grading detection table 15 to rotate on the grading detection table support 8; the grading detection table 15 of the embodiment has three side walls made of transparent material, one side without the side wall is provided with an outlet, the bottom of the outlet is hingedly connected with a grading detection table extension bridge 17 made of transparent material through a slide hinge 10, a plurality of detection camera supports 14 are arranged on the grading detection table support 8, and a detection camera 12 is horizontally fixed on the detection camera support 14, so that the detection camera 12 can detect the appearance of apples on the weighing module 16 through the transparent side wall of the grading detection table 15, so as to realize the grading of the apples; after grading, the grading detection table 15 is driven to rotate by the rotary motor 9, so that the outlet corresponds to the corresponding slide 5, then the grading detection table extension bridge 17 is lowered, so that the apples roll along the grading detection table extension bridge 17 to the slide 5, and finally fall into the corresponding fruit basket 4 of the slide 5.

[0031] In an embodiment, the bottom of the grading detection table extension bridge 17 is hingedly connected with the bottom of the outlet of the grading detection table 15 through the slide 5, and the top can be rotated to be connected with the upper part of the slide 5; the side wall of the grading detection table 15 is provided with an electric push rod 13, the electric push rod 13 is rotatably arranged on the side wall of the grading detection table 15, the end of the electric push rod 13 is connected with one side of the grading detection table extension bridge 17 through a rotating shaft 11, the electric push rod 13 is retracted, so that the grading detection table extension bridge 17 is rotated upward to be vertically arranged, so as to close the outlet, the electric push rod 13 is extended, so as to drive the grading detection table extension bridge 17 to rotate downward to be connected with the upper end of the corresponding slide, so that the apples can naturally roll along the grading detection table extension bridge 17.

[0032] When picking operation is performed, the image is acquired by the binocular camera 3, and the front obstacles are identified after being processed by the total control computer 2, so as to avoid obstacles and drive safely in the case of unmanned control. When reaching the predetermined picking area, the mechanical arm 6 starts to work, the RGBD camera 7 on the mechanical arm 6 detects the position of the target fruit in real time through visual processing, and provides the position coordinates for the mechanical arm 6 picking; after the mechanical arm 6 picks the fruit, the fruit is placed on the grading detection table 15, the weighing module 16 is built-in below the grading table, the picked fruit is weighed, meanwhile, there are four detection cameras 12 around the grading detection table 15, the total control computer 2 processes the image of the apple in the grading detection table 15, judges the quality of the apple (whether there is bruise, appearance shape, etc.), and the apple can be divided into superior product, first-class product and second-class product according to fruit shape, color, fruit surface defect and the like; after the total control computer 2 rapidly detects the fruit, the total control computer 2 drives the rotating motor 9 to classify according to the preset grade, and the grading detection table extension bridge 17 is aligned with the slide 5, then the electric push rod 13 is driven, the grading detection table extension bridge 17 is driven to the position of the slide 5, the apple slides into the fruit basket 4 through the grading detection table 15, the grading detection table extension bridge 17 and the slide 5, and the autonomous picking is realized through circulation; in the picking process, the mechanical arm 6 is controlled by the total control computer 2, and the picked apple is alternately placed in the grading detection table 15, so that the working efficiency is improved.

[0033] The principle and implementation mode of the specific examples are described in the utility model, and the above embodiment is only used for helping to understand the method and core idea of the utility model; meanwhile, for the general technical personnel in the field, according to the idea of the utility model, the specific implementation mode and application range will be changed. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. An apple automatic picking vehicle, characterized by: The utility model relates to a kind of apple picking machine, including: Vehicle body, the vehicle body is equipped with hierarchical detection platform, the hierarchical detection platform can be weighed and visual detection grading of apple; Mechanical arm, set up on the vehicle body, can pick apple, and place it on the hierarchical detection platform; Slide, the slide is arranged obliquely, and multiple the slide ring is arranged outside the hierarchical detection platform, and each slide end is equipped with a fruit basket, the hierarchical detection platform can be sent into corresponding the slide after grading apple, and through slide roll to corresponding fruit basket.

2. The apple automatic picking vehicle according to claim 1, characterized in that: The vehicle body one end is equipped with binocular camera, the binocular camera is connected with the general control computer on the vehicle body, the general control computer can automatically plan path and control the moving track of the vehicle body according to the real-time image collected by the binocular camera.

3. The apple automatic picking vehicle according to claim 2, characterized in that: The mechanical arm includes mechanical arm body, and the end of mechanical arm body is equipped with mechanical claw, and the general control computer can control the mechanical claw picking apple, and place it on the hierarchical detection platform.

4. The apple automatic picking vehicle according to claim 3, characterized in that: The mechanical arm is equipped with RGBD camera near the position of mechanical claw, the RGBD camera is connected with the general control computer, and the RGB image and depth information collected are transmitted to general control computer.

5. The apple automatic picking vehicle according to claim 1, characterized in that: The vehicle body is fixedly provided with hierarchical detection platform support, the hierarchical detection platform is movably arranged on the top of the hierarchical detection platform support, the hierarchical detection platform support is provided with rotary motor, the rotary shaft of the rotary motor is connected with the hierarchical detection platform, and the rotary motor can drive the hierarchical detection platform to rotate on the hierarchical detection platform support;One side of the hierarchical detection platform is provided with outlet, and the apple on the hierarchical detection platform can enter corresponding slide through the outlet.

6. The apple automatic picking vehicle according to claim 5, characterized in that: The bottom of the hierarchical detection platform is provided with weighing module, the side wall of the hierarchical detection platform is made of transparent material, and the detection camera is arranged outside the hierarchical detection platform, and the detection camera can detect the appearance of apple on the weighing module through the transparent side wall of the hierarchical detection platform.

7. The apple automatic picking vehicle according to claim 6, characterized in that: The hierarchical detection platform is hingedly connected with hierarchical detection platform extension bridge at the outlet, the bottom of the hierarchical detection platform extension bridge is hingedly connected with the bottom of the outlet of the hierarchical detection platform, and the top can be rotated to be connected with the slide above;The side wall of the hierarchical detection platform is provided with driving device, and the driving device is used to drive the hierarchical detection platform extension bridge to rotate around the hinge point.

8. The apple automatic picking vehicle according to claim 7, characterized in that: The driving device includes electric push rod, the electric push rod is rotatably arranged on the side wall of the hierarchical detection platform, and the end of the electric push rod is connected with one side of the hierarchical detection platform extension bridge through rotary shaft.

9. The apple automatic picking vehicle according to claim 6, characterized in that: The hierarchical detection platform support is provided with a plurality of detection camera supports, and the detection camera is fixedly arranged on the detection camera support.

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