Intelligent integrated machine for intactly picking and grading table grapes and control method thereof

Abstract

The invention provides an intelligent integrated machine for intactly picking and grading table grapes and a control method thereof. The intelligent integrated machine comprises a three-dimensional motion platform, a picking point positioning system, a picking system and a grading and subpackaging system. The three-dimensional motion platform comprises a walking motor controller, a position sensor and the like; the picking point positioning system is composed of a grading image detecting camera, system software and a data transmission module; the picking system is a top end structure of the three-dimensional motion platform and is composed of an infrared geminate transistor set, a picking cutter, a net bag and a rotary buffering plate; the grading and subpackaging system is composed of a conveying belt front lifting device, a conveying crawler belt, a conveying belt driving motor, a grading image detection camera and a controllable rotary box. The grape pickup integrated machine improves grape pickup efficiency and grading accuracy, reduces secondary damage to the grapes, ensures freshness and has wide market popularization prospects.

Description

technical field [0001] The invention relates to the field of fruit tree picking, in particular to the design and control of an intelligent integrated machine for nondestructive picking and grading of fresh table grapes. Background technique [0002] Since the Americans Schertz and Brown proposed to use robots to pick fruits in the 1960s, the research on picking robots has received extensive attention, and agricultural robots have also developed rapidly. In 1983, the first picking robot was born in the United States, and Japan, Europe and the United States and other countries have successively studied intelligent robots for picking apples, citrus, tomatoes, watermelons, etc. However, the research and application of picking robots in my country are still very few. At present, the picking and grading of fresh table grapes in China is still mainly performed manually, with high harvest costs, low detection and grading efficiency, and it is difficult to be objective and accurate,...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the problems of high labor intensity, low efficiency and cumbersome work in the manual picking of fresh table grapes, background determination of grape picking point identification, single picking of grape varieties, grading after picking, single grading standard and secondary damage. An intelligent all-in-one machine for non-destructive picking and grading of grapes and its control method, thereby improving the efficiency of picking grapes and the accuracy of grading, reducing secondary damage to grapes, and ensuring the freshness of table grapes

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