A fruit picking device with a sugar content detection function
By integrating sugar content detection and tracked wheels into the fruit picking device, precise positioning, non-destructive testing, and efficient classification and storage of fruits are achieved, solving the problems of uneven sugar content and insufficient intelligence in traditional devices, and improving fruit quality and picking efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ANHUI SCI & TECH UNIV
- Filing Date
- 2025-06-09
- Publication Date
- 2026-06-05
AI Technical Summary
Traditional fruit picking devices lack sugar content detection capabilities, resulting in inconsistent fruit sugar content. They also have low levels of automation, insufficient mobility, and low picking efficiency, making it difficult to meet the needs of modern agricultural production.
Design a fruit picking device with sugar content detection function, including an integrated picking robotic arm, a vision sensor, a non-destructive sugar content detector, a picking and storage box, and tracked wheels, to achieve precise positioning, non-destructive detection, and efficient classification and storage of fruits, and to achieve intelligent control by combining control and execution units.
It achieves uniformity of fruit sugar content and improves harvesting efficiency, ensures fruit quality and automates the harvesting process, adapts to complex terrain, and enhances the flexibility and applicability of the harvesting equipment.
Smart Images
Figure CN224319929U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fruit picking technology, specifically a fruit picking device with sugar content detection function. Background Technology
[0002] Fruit picking with sugar content detection function usually refers to using equipment or technology that can detect the sugar content of fruits during the picking process to ensure that the picked fruits meet a certain sugar content standard. The application of this technology helps to improve the quality of fruits and ensure that consumers can obtain fruits with better taste. Fruits can be sorted and placed through fruit picking devices, and it is also convenient to move and pick them in different work sites.
[0003] However, traditional harvesting devices still have certain shortcomings in use:
[0004] 1. Traditional harvesting devices often lack sugar content detection capabilities, making it impossible to detect the sugar content of harvested fruits in real time. This results in inconsistent sugar content among the harvested fruits, affecting the overall quality of the fruits. In addition, existing harvesting devices have a low level of intelligence.
[0005] 2. Furthermore, traditional fruit harvesting devices are insufficient in terms of mobility and harvesting efficiency, making it difficult to meet the demands of modern agricultural production for efficient and intelligent harvesting. To address these issues, this invention proposes a fruit harvesting device with sugar content detection capabilities, aiming to improve the efficiency and quality of fruit harvesting and meet the needs of modern agricultural production. Utility Model Content
[0006] The purpose of this invention is to provide a fruit picking device with a sugar content detection function, in order to solve the problem mentioned in the background art that traditional picking devices often lack sugar content detection function, and cannot detect the sugar content of the picked fruit in real time, resulting in inconsistent sugar content of the picked fruit, which affects the overall quality of the fruit. At the same time, existing picking devices have low intelligence. In addition, traditional picking devices are also insufficient in terms of mobility and picking efficiency, making it difficult to meet the needs of modern agricultural production for efficient and intelligent picking.
[0007] To achieve the above objectives, this utility model provides the following technical solution:
[0008] A fruit picking device with sugar content detection function includes an installation platform. An installation base is fixedly connected to the top of the installation platform. An integrated picking robotic arm is fixedly connected to the top of the installation base. A picking robotic claw is installed at the end of the integrated picking robotic arm. A vision sensor and a non-destructive sugar content detector are respectively installed on the sides of the integrated picking robotic arm. A picking storage box is fixedly connected to the top of the installation platform. A longitudinal partition and a transverse partition are fixedly connected inside the picking storage box. The transverse partition is located to the side of the longitudinal partition. Multiple fruit storage chambers are formed between the transverse partition, the longitudinal partition, and the picking storage box.
[0009] As a preferred embodiment of this utility model, a mounting plate is fixedly connected to the bottom of the mounting platform, a drive motor is mounted on the side of the mounting plate, and tracked moving wheels are provided on the side of the mounting plate. The output end of the drive motor passes through the mounting plate and is fixedly connected to the moving wheel in the tracked moving wheel. The output end of the drive motor is rotatably connected to the mounting plate.
[0010] As a preferred embodiment of this utility model, a control and execution unit is fixedly connected to the bottom of the mounting plate, and the control and execution unit is electrically connected to the drive motor and the integrated harvesting robotic arm.
[0011] As a preferred embodiment of this utility model, the control and execution unit is provided with a main control module, which is composed of an STM32 and a Raspberry Pi.
[0012] As a preferred embodiment of this utility model, the non-destructive sugar content analyzer is located at the end of the harvesting integrated robotic arm, and the model of the non-destructive sugar content analyzer is Aituo PAL-HIKARi 5 non-destructive sugar content meter.
[0013] As a preferred embodiment of this utility model, the visual sensor is located on the side of the non-destructive sweetness detector, and a binocular camera is installed on the side of the visual sensor.
[0014] As a preferred embodiment of this utility model, the integrated harvesting robotic arm is located on the side of the harvesting and storage box, and a shock-absorbing pad is fixedly connected to the inner bottom wall of the harvesting and storage box.
[0015] As a preferred embodiment of this utility model, two tracked moving wheels are provided, and the two tracked moving wheels are positioned opposite each other.
[0016] Compared with the prior art, the beneficial effects of this utility model are:
[0017] 1. In this utility model, by using an integrated harvesting robotic arm, harvesting grippers, a vision sensor, a non-destructive sugar content analyzer, a harvesting storage box, and longitudinal and transverse partitions in combination, the integrated operation of fruit harvesting, sugar content detection, and storage is realized. The integrated harvesting robotic arm is responsible for accurately positioning and grasping the fruit, while the harvesting grippers ensure the fruit is not damaged during the harvesting process. The vision sensor can capture the image information of the fruit in real time, providing accurate visual guidance for harvesting. The non-destructive sugar content analyzer can detect the sugar content of the fruit while harvesting, ensuring that the harvested fruit has a uniform sugar content and improving the overall quality of the fruit. The harvesting storage box is equipped with longitudinal and transverse partitions, which can classify and store the harvested fruit in an orderly manner, facilitating subsequent processing and sales.
[0018] 2. In this utility model, the flexibility and applicability of the device are further improved by using a mounting plate, a control and execution unit, a drive motor, and tracked wheels in combination. The mounting plate, as the basic component of the device, firmly supports the control and execution unit, ensuring the stability of the entire harvesting device during operation. The control and execution unit, as the brain of the device, is responsible for receiving instructions and precisely controlling the operation of each component, realizing intelligent harvesting. The drive motor provides strong power support, enabling the device to move flexibly in various complex environments. The design of the tracked wheels not only enhances the device's obstacle-crossing ability but also allows it to easily cope with various terrains, such as muddy orchards and rugged mountains, greatly improving harvesting efficiency. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model;
[0020] Figure 2 This is a schematic diagram of the bottom structure of this utility model;
[0021] Figure 3 This is a schematic diagram of the integrated harvesting robotic arm structure of this utility model;
[0022] Figure 4 This is a schematic diagram of the top structure of the installation platform of this utility model.
[0023] In the diagram: 1. Mounting platform; 2. Mounting base; 3. Harvesting and storage box; 4. Tracked moving wheels; 5. Integrated harvesting robotic arm; 6. Vision sensor; 7. Non-destructive sugar content analyzer; 8. Control and execution unit; 9. Drive motor; 10. Mounting plate; 11. Harvesting robotic claw; 12. Longitudinal partition plate; 13. Transverse partition plate. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.
[0025] For examples, please refer to Figures 1-4 This utility model provides a technical solution:
[0026] A fruit picking device with sugar content detection function includes a mounting platform 1, a mounting base 2 fixedly connected to the top of the mounting platform 1, an integrated picking robotic arm 5 fixedly connected to the top of the mounting base 2, a picking robotic claw 11 installed at the end of the integrated picking robotic arm 5, a vision sensor 6 and a non-destructive sugar content detector 7 respectively installed on the side of the integrated picking robotic arm 5, a picking storage box 3 fixedly connected to the top of the mounting platform 1, a longitudinal partition plate 12 and a transverse partition plate 13 fixedly connected inside the picking storage box 3, the transverse partition plate 13 being located on the side of the longitudinal partition plate 12, and multiple fruit storage chambers being formed between the transverse partition plate 13, the longitudinal partition plate 12 and the picking storage box 3, the non-destructive sugar content detector 7 being located at the end of the integrated picking robotic arm 5, the model of the non-destructive sugar content detector 7 being the Aituo PAL-HIKARi 5 non-destructive sugar content meter, the vision sensor 6 being located on the side of the non-destructive sugar content detector 7, and a binocular camera being installed on the side of the vision sensor 6.
[0027] Among them, the vision sensor 6 starts working to accurately locate the fruit, while the non-destructive sugar content detector 7 detects the sugar content of the located fruit. Based on the detection results, the control and execution unit 8 analyzes and judges whether the fruit meets the picking standards.
[0028] In this embodiment, as Figure 1 , Figure 2 , Figure 3 As shown in the figure, a mounting plate 10 is fixedly connected to the bottom of the mounting platform 1. A drive motor 9 is mounted on the side of the mounting plate 10. Tracked moving wheels 4 are provided on the side of the mounting plate 10. The output end of the drive motor 9 passes through the mounting plate 10 and is fixedly connected to the moving wheel in the tracked moving wheel 4. The output end of the drive motor 9 is rotatably connected to the mounting plate 10. A control and execution unit 8 is fixedly connected to the bottom of the mounting plate 10. The control and execution unit 8 is electrically connected to the drive motor 9 and the integrated harvesting robotic arm 5. The control and execution unit 8 is equipped with a main control module, which consists of an STM32 and a Raspberry Pi. The integrated harvesting robotic arm 5 is located on the side of the harvesting storage box 3. A shock-absorbing pad is fixedly connected to the inner bottom wall of the harvesting storage box 3. There are two tracked moving wheels 4, which are positioned opposite each other.
[0029] The mechanical claw 11 extends and precisely grabs the fruit, then places it into the harvesting storage box 3 to prevent the fruit from colliding and being damaged during the harvesting process.
[0030] The workflow of this utility model is as follows: When the fruit picking device with sugar content detection function designed in this scheme is in operation, first check whether the device is working properly and ensure that all components, such as the integrated picking robotic arm 5, vision sensor 6, and non-destructive sugar content detector 7, are in normal working condition. Then, start the drive motor 9, and move the entire device to the fruit tree to be picked through the mounting base 2 and mounting plate 10. The vision sensor 6 starts working to accurately locate the fruit, and at the same time, the non-destructive sugar content detector 7 detects the sugar content of the located fruit. Based on the detection results, the control and execution unit 8 analyzes and judges whether the picking standard is met. If the standard is met, the integrated picking robotic arm 5 will be adjusted to a suitable position, the picking claw 11 will extend and accurately grab the fruit, and then put it into the picking storage box 3. The picking storage box 3 is equipped with a longitudinal partition 12 and a transverse partition 13 to prevent the fruit from colliding with each other and causing damage during the picking process. The entire picking process is automated and intelligent, which greatly improves the picking efficiency and the quality of the fruit.
[0031] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A fruit picking device with sugar content detection function, comprising an installation platform (1), characterized in that: The top of the installation platform (1) is fixedly connected to the installation base (2), the top of the installation base (2) is fixedly connected to the harvesting integrated robotic arm (5), the end of the harvesting integrated robotic arm (5) is equipped with a harvesting robotic claw (11), the side of the harvesting integrated robotic arm (5) is respectively equipped with a vision sensor (6) and a non-destructive sugar content detector (7), the top of the installation platform (1) is fixedly connected to the harvesting storage box (3), the harvesting storage box (3) is respectively fixedly connected to a longitudinal partition plate (12) and a transverse partition plate (13), the transverse partition plate (13) is located on the side of the longitudinal partition plate (12), and multiple fruit storage chambers are formed between the transverse partition plate (13), the longitudinal partition plate (12) and the harvesting storage box (3).
2. The fruit picking device with sugar content detection function according to claim 1, characterized in that, The bottom of the mounting platform (1) is fixedly connected to a mounting plate (10), a drive motor (9) is mounted on the side of the mounting plate (10), and a tracked moving wheel (4) is provided on the side of the mounting plate (10). The output end of the drive motor (9) passes through the mounting plate (10) and is fixedly connected to the moving wheel in the tracked moving wheel (4). The output end of the drive motor (9) is rotatably connected to the mounting plate (10).
3. A fruit picking device with sugar content detection function according to claim 2, characterized in that, The bottom of the mounting plate (10) is fixedly connected to a control and execution unit (8), which is electrically connected to the drive motor (9) and the picking integrated robotic arm (5).
4. A fruit picking device with sugar content detection function according to claim 3, characterized in that, The control and execution unit (8) is equipped with a main control module, which consists of an STM32 and a Raspberry Pi.
5. A fruit picking device with sugar content detection function according to claim 1, characterized in that, The non-destructive sugar content analyzer (7) is located at the end of the harvesting integrated robotic arm (5), and the model of the non-destructive sugar content analyzer (7) is Aituo PAL-HIKARi 5 non-destructive sugar content analyzer.
6. A fruit picking device with sugar content detection function according to claim 1, characterized in that, The visual sensor (6) is located on the side of the non-destructive sugar content detector (7), and a binocular camera is installed on the side of the visual sensor (6).
7. A fruit picking device with sugar content detection function according to claim 1, characterized in that, The integrated picking robotic arm (5) is located on the side of the picking and storage box (3), and the inner bottom wall of the picking and storage box (3) is fixedly connected with a shock-absorbing pad.
8. A fruit picking device with sugar content detection function according to claim 2, characterized in that, Two tracked wheels (4) are provided, and the two tracked wheels (4) are positioned opposite each other.