A towed sorting robot and potato sorting apparatus

Abstract

This utility model provides a drag-and-drop sorting robot and potato sorting equipment, relating to the field of agricultural product harvesting technology. The drag-and-drop sorting robot includes a drag-and-drop frame, a sorting robot arm, a camera, a collection box, and a controller. The sorting robot arm is located above the sorting area and connected to the drag-and-drop frame; the camera is located above the potato recognition area to identify the potato shape and is connected to the drag-and-drop frame; the collection box is located in the sorting area and distributed at both ends of the width of the horizontal mesh conveyor line, and is detachably connected to the drag-and-drop frame; the controller is connected to the drag-and-drop frame and communicates with the camera, the sorting robot arm, and the horizontal mesh conveyor line.

Description

Technical Field

[0001] This utility model relates to the field of agricultural product harvesting technology, and more specifically, to a drag-and-drop sorting robot and potato sorting equipment. Background Technology

[0002] The common method for collecting potatoes is to use a soil turning machine to turn the potatoes out of the soil and then collect them manually in bags. This method is labor-intensive and relatively inefficient. Utility Model Content

[0003] The problem this invention addresses is: how to improve the efficiency of potato collection.

[0004] To address the aforementioned problems, this utility model provides a drag-and-drop sorting robot, comprising: A towable frame, the front end of which is used to connect to the rear end of a potato collector, the towable frame including a horizontal mesh belt conveyor line, the inlet end of which is connected to the outlet end of the potato collector, the horizontal mesh belt conveyor line including a sorting area away from the potato collector and a potato identification area close to the potato collector along its conveying direction. A sorting robot arm is located above the sorting area and is connected to the towed vehicle frame; A camera, located above the potato recognition area, is used to identify the shape of the potato and is connected to the towable frame; An upward-facing collection box is located in the sorting area and distributed at both ends of the width of the horizontal mesh belt conveyor line, and is detachably connected to the towed vehicle frame. The controller is connected to the towed vehicle frame and is communicatively connected to the camera, the sorting robot, and the horizontal mesh belt conveyor.

[0005] Optionally, the drag-and-go sorting robot further includes an air-blowing cleaning mechanism located above the potato identification area and connected to the drag-and-go frame, with the air outlet of the air-blowing cleaning mechanism facing the potato identification area.

[0006] Optionally, multiple air-blowing cleaning mechanisms are distributed at intervals along the conveying direction, and the multiple air-blowing cleaning mechanisms are located on the side of the camera away from the sorting robot.

[0007] Optionally, the drag-and-drop sorting robot further includes a heavy-weight potato collection box, which is connected to the tail end of the drag-and-drop frame. The opening of the heavy-weight potato collection box is connected to the outlet of the horizontal mesh belt conveyor. The collection box is used to collect small-weight potatoes, and the sorting robot arm is used to pick up the small-weight potatoes.

[0008] Optionally, the bottom of the heavy potato collection box is provided with a grid structure.

[0009] Optionally, a weighing sensor is provided at the bottom of the collection box. The weighing sensor is used to detect the weight of the potatoes in the collection box and is communicatively connected to the controller.

[0010] Optionally, a limit sensor is provided at the opening of the collection box. The limit sensor is used to detect the total height of the potatoes inside the collection box and is communicatively connected to the controller.

[0011] Optionally, the bottom of the collection box is provided with a hinged plate. When the hinged plate is closed, the collection box forms an upward-opening box structure. When the hinged plate is open, the potatoes inside the collection box are bagged.

[0012] Optionally, two sorting robots are distributed along the width of the horizontal mesh belt conveyor line.

[0013] Optionally, the collection boxes are distributed at both ends of the towable frame in the width direction.

[0014] Compared with related technologies, the drag-and-drop sorting robot of this utility model utilizes the tail end of a potato collector connected to a drag-and-drop frame. The potato collector can move synchronously with the drag-and-drop frame along the direction of soil turning. The inlet end of a horizontal mesh belt conveyor is connected to the outlet end of the potato collector. The horizontal mesh belt conveyor forms a potato conveying line behind the potato collector, realizing the transportation of potatoes on the drag-and-drop frame. The horizontal mesh belt conveyor includes a sorting area away from the potato collector and a potato identification area close to the potato collector along its conveying direction, and the sorting robot is located in the sorting area. Above and connected to a towable frame, a camera can first capture images of potatoes transported to the horizontal mesh belt conveyor line. The controller can use the potato position information captured by the camera to drive the sorting robot to pick up the potatoes in the sorting area and place them into collection boxes distributed at both ends of the width of the horizontal mesh belt conveyor line. The collection boxes are detachably connected to the towable frame so that they can be replaced when full. The sorting robot can put the picked-up potatoes into the designated collection boxes, thereby realizing the autonomous picking and sorting of potatoes during the potato turning process, thus improving the efficiency of potato collection.

[0015] In another aspect, this utility model also provides a potato sorting device, including the drag-and-drop sorting robot as described above.

[0016] This potato sorting equipment has all the beneficial effects of the drag-and-drop sorting robot, which will not be elaborated here. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the drag-and-drop sorting robot connected to the potato collector in an embodiment of the present invention; Figure 2 This is a schematic diagram of the air-blowing cleaning mechanism in an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures: 100 - Trailer-type frame; 110 - Horizontal mesh belt conveyor; 200 - Potato collector; 300 - Sorting robot; 400 - Camera; 500 - Collection box; 600 - Air blowing cleaning mechanism; 700 - Heavy-duty potato collection box. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0020] In the attached figures, the X-axis represents the horizontal position, with the positive direction of the X-axis indicating the right side and the negative direction indicating the left side; the Y-axis represents the front-to-back position, with the positive direction of the Y-axis indicating the front and the negative direction indicating the back; the Z-axis represents the vertical position, with the positive direction of the Z-axis indicating the top and the negative direction indicating the bottom. It should be noted that the aforementioned representations of the X, Y, and Z axes are merely for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model.

[0021] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this utility model described herein can be implemented in sequences other than those illustrated or described herein.

[0022] Combination Figure 1 and Figure 2 As shown, this utility model embodiment provides a drag-and-drop sorting robot, including: A towable frame 100 is provided, the front end of which is used to connect to the rear end of the potato collector 200. The towable frame 100 includes a horizontal mesh belt conveyor line 110, the inlet end of which is connected to the outlet end of the potato collector 200. The horizontal mesh belt conveyor line 110 includes a sorting area away from the potato collector 200 and a potato identification area close to the potato collector 200 along its conveying direction. The sorting robot 300 is located above the sorting area and is connected to the towed frame 100. Camera 400 is located above the potato recognition area and is connected to the towable frame 100; The collection box 500 with its opening facing upward is located in the sorting area and is distributed at both ends of the width of the horizontal mesh belt conveyor line 110, and is detachably connected to the towed frame 100. The controller is connected to the towed frame 100 and communicates with the camera 400, the sorting robot 300, and the horizontal mesh belt conveyor 110.

[0023] Specifically, the direction of soil turning refers to the positive direction of the Y-axis, which is also the negative direction in which the towed frame 100 is towed and moved. The potato collector 200 is located in front of the towed frame 100, with the front end of the towed frame 100 connected to the rear end of the potato collector 200. The potato collector 200 has the ability to turn potatoes out of the soil and transport them to the front end of the towed frame 100. For example, the potato collector 200 has a shovel head that extends below the ground, an inclined conveyor belt, and a mobile frame. The shovel head is installed at the front end of the conveyor belt, which is connected to the mobile frame. The mobile frame is connected to the rear end of the tractor for movement. During movement, after the shovel head turns the potatoes out of the soil, the potatoes can move along the shovel head onto the conveyor belt as the potato collector 200 moves in the direction of turning the soil. The conveyor belt transports the potatoes upward to lift them off the ground. The rear end of the conveyor belt (the negative end of the Y-axis) is connected to the inlet end of the horizontal mesh belt conveyor line 110, allowing the potatoes to continue to be transported by the horizontal mesh belt conveyor line 110. The towed vehicle frame 100 is equipped with a horizontal mesh belt conveyor 110. The specific structure of the horizontal mesh belt conveyor 110 can be referenced from the belt drive conveyor setup, and will not be elaborated here. The conveying direction of the horizontal mesh belt conveyor 110 is opposite to the turning direction, facing the negative Y-axis. The horizontal mesh belt conveyor 110 can transport potatoes from the outlet end of the potato collector 200 to the tail end of the towed vehicle frame 100. Above the horizontal mesh belt conveyor 110, the towed vehicle frame 100 is also equipped with a sorting robot 300 and a camera 400. Along the conveying direction of the horizontal mesh belt conveyor 110, the horizontal mesh belt conveyor 110 is divided into a potato recognition area close to the potato collector 200 and a sorting area away from the potato collector 200. The sorting robot 300 is located in the sorting area, and a suction cup gripper can be installed at the end of the sorting robot 300. The camera 400 is located in the potato recognition area. Upward-facing collection boxes 500 are mounted on both sides near the rear end of the towed frame 100. When the rear end of the potato collector 200 is connected to the towed frame 100 and the front end of the potato collector 200 is towed by a tractor, the tractor pulls the potato collector 200 and the towed frame 100 along the direction of soil turning. The controller drives the horizontal mesh belt conveyor 110. After the potato collector 200 turns over the potatoes, it conveys them to the horizontal mesh belt conveyor 110 for further transport. The potatoes first reach the potato identification area, where the camera 400 takes a picture of the potato and transmits the image information to the controller. The controller determines the size grade of the potato based on the image information from the camera 400. When the potato reaches the sorting area, the controller drives the sorting robot 300 to grab the potato and place it into the corresponding collection box 500 based on the determined size grade. As the tractor continues to move along the direction of soil turning, autonomous potato collection can be achieved.

[0024] Therefore, in this embodiment, the tail end of the potato collector 200 is connected to the towed frame 100, allowing the potato collector 200 to move synchronously with the towed frame 100 along the tilling direction. The inlet end of the horizontal mesh belt conveyor 110 is connected to the outlet end of the potato collector 200, forming a potato conveying line behind the potato collector 200, thus realizing the transportation of potatoes on the towed frame 100. The horizontal mesh belt conveyor 110 includes a sorting area away from the potato collector 200 and a potato identification area close to the potato collector 200 along its conveying direction. The sorting robot 300 is located above the sorting area and... A towable frame 100 is connected to a camera 400, which can first capture images of potatoes transported to the horizontal mesh belt conveyor line 110. The controller can use the potato position information captured by the camera 400 to drive the sorting robot 300 to pick up the potatoes in the sorting area and place them into collection boxes 500 distributed at both ends of the width of the horizontal mesh belt conveyor line 110. The collection boxes 500 are detachably connected to the towable frame 100 so that they can be replaced when full. The sorting robot 300 can put the picked-up potatoes into the designated collection boxes 500, thereby realizing the autonomous picking and sorting of potatoes during the potato turning process, so as to improve the efficiency of potato collection.

[0025] Optionally, combined Figure 1 and Figure 2 As shown, the drag-and-drop sorting robot also includes an air-blowing cleaning mechanism 600, which is located above the potato identification area and connected to the drag-and-drop frame 100. The air outlet of the air-blowing cleaning mechanism 600 faces the potato identification area.

[0026] Specifically, both the air-blowing cleaning mechanism 600 and the camera 400 are located above the potato recognition area. The air-blowing cleaning mechanism 600 is closer to the entrance end of the horizontal mesh belt conveyor line 110 than the camera 400. The camera 400 only identifies the position information of the potatoes and does not recognize the air-blowing cleaning mechanism 600; the air-blowing cleaning mechanism 600 and the camera 400 do not interfere with each other. The air-blowing cleaning mechanism 600 is connected to the towing frame 100. The air outlets of the air-blowing cleaning mechanism 600 are spaced apart along the width of the horizontal mesh belt conveyor line 110, and the air blown from the outlets of the air-blowing cleaning mechanism 600 can completely cover the width of the horizontal mesh belt conveyor line 110. When the potatoes are transported to the horizontal mesh belt conveyor line 110, the air-blowing cleaning mechanism 600 blows air to clean the potatoes, removing the dirt from the surface, and then the camera 400 takes a picture of the potatoes.

[0027] Thus, with the air-blowing cleaning mechanism 600 positioned above the potato identification area and connected to the towed frame 100, and the air outlet of the air-blowing cleaning mechanism 600 facing the potato identification area, the air-blowing cleaning mechanism 600 can clean the potatoes, reducing subsequent potato soil cleaning operations. At the same time, soil cleaning also facilitates the stable picking of potatoes by the sorting robot arm 300.

[0028] Optionally, combined Figure 1 and Figure 2 As shown, multiple air-blowing cleaning mechanisms 600 are distributed at intervals along the conveying direction, and multiple air-blowing cleaning mechanisms 600 are located on the side of the camera 400 away from the sorting robot 300.

[0029] Specifically, multiple air-blowing cleaning mechanisms 600 are distributed at intervals along the conveying direction. Each air-blowing cleaning mechanism 600 extends along the width of the horizontal conveyor line 110. The multiple air-blowing cleaning mechanisms 600 are located on the side of the camera 400 away from the sorting robot 300.

[0030] Thus, by distributing multiple air-blowing cleaning mechanisms 600 at intervals along the conveying direction, and with the multiple air-blowing cleaning mechanisms 600 located on the side of the camera 400 away from the sorting robot 300, the multiple air-blowing cleaning mechanisms 600 can achieve multiple cleaning effects on potatoes.

[0031] Optionally, combined Figure 1 As shown, the drag-and-drop sorting robot also includes a heavy potato collection box 700, which is connected to the tail end of the drag-and-drop frame 100. The opening of the heavy potato collection box 700 is connected to the outlet of the horizontal mesh belt conveyor line 110. The collection box 500 is used to collect small potatoes, and the sorting robot arm 300 is used to pick up small potatoes.

[0032] Specifically, the heavy-weight potato collection box 700 is detachably connected to the rear end of the towed frame 100. The heavy-weight potato collection box 700 extends along the width of the towed frame 100, and its opening is connected to the outlet of the horizontal mesh belt conveyor 110. During potato sorting, the sorting robot 300 only picks up the small-weight potatoes, while the large-weight potatoes automatically fall into the heavy-weight potato collection box 700 from the outlet of the horizontal mesh belt conveyor 110. The difference between large and small-weight potatoes can be distinguished by the shape and size of the potatoes captured by the camera 400; larger potatoes are large-weight potatoes, and smaller potatoes are small-weight potatoes.

[0033] Thus, by connecting the heavy potato collection box 700 to the tail end of the towing frame 100, and with the opening of the heavy potato collection box 700 connected to the outlet of the horizontal mesh belt conveyor 110, the collection box 500 is used to collect small potatoes, and the sorting robot 300 is used to pick up small potatoes. The heavy potato collection box 700 can be directly transported to the heavy potato collection box 700 through the horizontal mesh belt conveyor 110, reducing the sorting load of the sorting robot 300 and helping to improve the sorting efficiency of the sorting robot 300.

[0034] Optionally, combined Figure 1 and Figure 2 As shown, the bottom of the heavy potato collection box 700 is equipped with a grid structure.

[0035] Specifically, the bottom of the heavy potato collection box 700 is equipped with a grid structure, that is, the bottom of the heavy potato collection box 700 is hollow.

[0036] In this way, by using a grid structure at the bottom of the heavy potato collection box 700, not only can the weight of the heavy potato collection box 700 be reduced, but the soil can also be directly dropped to the ground by the free fall of the potatoes, thus eliminating the need for subsequent cleaning of the heavy potato collection box 700.

[0037] Optionally, combined Figure 1 As shown, a weighing sensor is installed at the bottom of the collection box 500. The weighing sensor is used to detect the weight of the potatoes in the collection box 500 and is connected to the controller.

[0038] Specifically, as the number of potatoes in the collection box 500 increases, the weight measured by the weighing sensor continuously increases. When the weight measured by the weighing sensor reaches the limit value, the weighing sensor feeds back the weight information to the controller, and the controller prompts the collection box 500 to be full of potatoes through indicator lights and other warning structures.

[0039] Thus, a weighing sensor is installed at the bottom of the collection box 500. The weighing sensor is used to detect the weight of the potatoes in the collection box 500 and is connected to the controller. The weighing sensor can detect the weight of the potatoes in the collection box 500 so that a timely reminder can be given when the collection box 500 is full of potatoes.

[0040] Optionally, combined Figure 1 As shown, a limit sensor is installed at the opening of the collection box 500. The limit sensor is used to detect the total height of the potatoes inside the collection box 500 and is connected to the controller.

[0041] Specifically, the limit sensor can be a proximity switch. When the total height of the potatoes in the collection box 500 reaches the proximity switch, the proximity switch is triggered, and the controller provides an early warning through indicator lights and other warning structures.

[0042] Thus, the limit sensor is used to detect the total height of the potatoes in the collection box 500 and communicates with the controller to realize secondary early warning, thereby improving the reliability of potato collection.

[0043] Optionally, combined Figure 1 As shown, the bottom of the collection box 500 is provided with an opening and closing plate. When the opening and closing plate is closed, the collection box 500 forms a box structure with the opening facing upward. When the opening and closing plate is open, the potatoes inside the collection box 500 are bagged.

[0044] Specifically, the hinged plate can also be understood as the bottom plate of the collection box 500, which is rotatably mounted at the bottom of the collection box 500. When closed, the hinged plate creates an upward-opening box structure for easy potato collection. When the collection box 500 is full of potatoes, the opening of the collection bag aligns with the hinged plate, and the plate opens, allowing the potatoes inside the collection box 500 to fall freely into the collection bag, thus achieving potato bagging.

[0045] In this way, by using the opening and closing plate in the closed state, the collection box 500 forms an upward-opening box structure, which facilitates the collection of potatoes by the collection box 500. By using the opening and closing plate in the open state, the potatoes in the collection box 500 can be bagged, which can improve the efficiency of potato bagging.

[0046] Optionally, combined Figure 1 As shown, two sorting robots 300 are distributed along the width of the horizontal mesh belt conveyor line 110.

[0047] Specifically, two sorting robots 300 are distributed along the width of the horizontal mesh belt conveyor line 110, and the two sorting robots 300 simultaneously sort potatoes.

[0048] Thus, by distributing two sorting robots 300 along the width of the horizontal mesh belt conveyor line 110, potato sorting efficiency can be improved.

[0049] Another embodiment of this utility model provides a potato sorting device, including the drag-and-drop sorting robot as described above.

[0050] This potato sorting equipment has all the beneficial effects of the drag-and-drop sorting robot, which will not be elaborated here.

[0051] Although the present invention has been disclosed above, its protection scope is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the protection scope of the present invention.

Claims

1. A drag-and-drop sorting robot, characterized in that, include: A towable frame (100) is provided, the front end of which is connected to the rear end of a potato collector (200). The towable frame (100) includes a horizontal mesh belt conveyor (110), the inlet end of which is connected to the outlet end of the potato collector (200). The horizontal mesh belt conveyor (110) includes a sorting area away from the potato collector (200) and a potato identification area close to the potato collector (200) along its conveying direction. A sorting robot (300) is located above the sorting area and connected to the towed frame (100); A camera (400) is located above the potato recognition area for recognizing potato shapes and is connected to the towable frame (100). An upward-facing collection box (500) is located in the sorting area and distributed at both ends of the width of the horizontal mesh belt conveyor line, and is detachably connected to the towed frame (100). The controller is connected to the towed frame (100) and is communicatively connected to the camera (400), the sorting robot (300) and the horizontal mesh belt conveyor (110).

2. The drag-and-drop sorting robot according to claim 1, characterized in that, It also includes an air-blowing cleaning mechanism (600) located above the potato identification area and connected to the towable frame (100), with the air outlet of the air-blowing cleaning mechanism (600) facing the potato identification area.

3. The drag-and-drop sorting robot according to claim 2, characterized in that, Multiple air-blowing cleaning mechanisms (600) are distributed at intervals along the conveying direction, and multiple air-blowing cleaning mechanisms (600) are located on the side of the camera (400) away from the sorting robot (300).

4. The drag-and-drop sorting robot according to claim 1, characterized in that, It also includes a heavy potato collection box (700), which is connected to the tail end of the towed frame (100). The opening of the heavy potato collection box (700) is connected to the outlet of the horizontal mesh belt conveyor (110). The collection box (500) is used to collect small potatoes, and the sorting robot (300) is used to pick up the small potatoes.

5. The drag-and-drop sorting robot according to claim 4, characterized in that, The bottom of the heavy-duty potato collection box (700) is equipped with a grid structure.

6. The drag-and-drop sorting robot according to claim 1, characterized in that, A weighing sensor is provided at the bottom of the collection box (500). The weighing sensor is used to detect the weight of the potatoes in the collection box (500) and is connected in communication with the controller.

7. The drag-and-drop sorting robot according to claim 1, characterized in that, A limit sensor is provided at the opening of the collection box (500). The limit sensor is used to detect the total height of the potatoes inside the collection box (500) and is connected in communication with the controller.

8. The drag-and-drop sorting robot according to claim 1, characterized in that, The bottom of the collection box (500) is provided with an opening and closing plate. When the opening and closing plate is closed, the collection box (500) forms an upward-opening box structure. When the opening and closing plate is open, the potatoes inside the collection box (500) are bagged.

9. The drag-and-drop sorting robot according to claim 1, characterized in that, Two sorting robots (300) are distributed along the width of the horizontal mesh belt conveyor line (110).

10. A potato sorting device, characterized in that, Including the drag-and-drop sorting robot as described in any one of claims 1-9.

Images