CN107258227A - A kind of automatic picking machine of strawberry - Google Patents
A kind of automatic picking machine of strawberry Download PDFInfo
- Publication number
- CN107258227A CN107258227A CN201710414765.3A CN201710414765A CN107258227A CN 107258227 A CN107258227 A CN 107258227A CN 201710414765 A CN201710414765 A CN 201710414765A CN 107258227 A CN107258227 A CN 107258227A
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- Prior art keywords
- strawberry
- motor
- camera
- running gear
- picking machine
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Links
- 235000016623 Fragaria vesca Nutrition 0.000 title claims abstract description 64
- 235000011363 Fragaria x ananassa Nutrition 0.000 title claims abstract description 64
- 240000009088 Fragaria x ananassa Species 0.000 title 1
- 241000220223 Fragaria Species 0.000 claims abstract description 63
- 238000003306 harvesting Methods 0.000 claims abstract description 27
- 238000003860 storage Methods 0.000 claims abstract description 18
- 238000010008 shearing Methods 0.000 claims abstract description 15
- 230000006698 induction Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims abstract description 11
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 235000013399 edible fruits Nutrition 0.000 description 6
- 235000021028 berry Nutrition 0.000 description 3
- 244000025254 Cannabis sativa Species 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007773 growth pattern Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/24—Devices for picking apples or like fruit
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvesting Machines For Specific Crops (AREA)
- Image Processing (AREA)
- Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)
Abstract
The present invention provides a kind of automatic picking machine of strawberry, including fuselage, picking head, identifying system, suction system, running gear, control system and battery；Picking head is moved up and down by moving left and right device and moving up and down device realization；Suction system includes getter device, inhaling hose and storage tank；Picking head includes harvesting hole, shearing device and induction installation, the inlet end connection of harvesting hole and inhaling hose；Identifying system includes the first camera and second camera, and the first camera and second camera are arranged on the upper end of vertical beam；The downside of fuselage sets running gear, and running gear moves forward and backward fuselage.The picking machine plucks strawberry by way of air absorption, and the ripe strawberry of automatic identification is plucked, it is to avoid directly machinery touches strawberry, and a greater degree of integrality for ensureing strawberry realizes the automatic harvesting of strawberry, saves labour, improves picking efficiency.
Description
Technical field
The present invention relates to agricultural equipment field, more particularly to a kind of automatic picking machine of strawberry.
Background technology
The berries surface of agricultural products such as strawberry is easily damaged, and likes being grown on the environment of moistening and loose, fertile, draining good
Sand soil in, plant is short, and distribution is hung in field both sides when strawberry fruit is heavier ripe, and modes of reproduction is stem breeding of crawling,
When strawberry well-grown, it can bear a kind of tendril, and new plantlet can be born again in the termination of tendril.Strawberry cultivating ground
Have a large amount of rhizomes interlaced, gap is differed between every plant of strawberry, it is overall intensive, it is easily rotten after strawberry is spattered with water by water
It is rotten.Because strawberry unique growth pattern and environment, current strawberry Softening is essentially artificial harvesting, and traditional manually adopts
Plucking needs to keep semi-crouch stooped over position for a long time, and workload is big, and efficiency is low.Existing harvesting apparatus can not accurately control to pluck power
Size is spent, strawberry of easily damaging, a small number of foreign countries' big machineries can perceive dynamics size with gripper, but bulky, structure
Complexity, it is expensive.Have that work workload is big, job area is wide in strawberry harvesting（Fruit distribution height is uneven）, touching power
Degree control requires high（Rich fruit is easily damaged）And need to selectively pluck（The single fruit maturity period is inconsistent）The problems such as.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of automatic picking machine of strawberry, are single fruit list stem for strawberry,
And fruit top stem it is longer the characteristics of, the mode for taking air to draw, it is to avoid direct machinery touching strawberry is a greater degree of to protect
Demonstrate,prove the integrality of strawberry.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of automatic picking machine of strawberry, including machine
Body, picking head, identifying system, suction system, running gear, control system and battery；
Front fuselage connects vertical beam and crossbeam, and picking head is connected by moving left and right device with crossbeam, and crossbeam is by moving up and down
Device and vertical beam connection；
Suction system includes getter device, inhaling hose and storage tank, and getter device is connected by storage tank with inhaling hose；
Picking head includes harvesting hole, shearing device and induction installation, the inlet end connection of harvesting hole and inhaling hose, shearing device
The stem cut-out of the strawberry in harvesting hole will be entered；
Identifying system includes the first camera and second camera, and the first camera and second camera are arranged on the upper of vertical beam
End；
The downside of fuselage sets running gear, and running gear moves forward and backward fuselage；
Control system and running gear, identifying system, shearing device, induction installation, move up and down device and move left and right dress
Put electric connection.
It is preferred that scheme in, the junction of the getter device and storage tank sets barrier.
It is preferred that scheme in, the device that moves left and right is including transverse screw and the first motor, and the first motor is arranged on horizontal stroke
The end of beam, transverse screw is connected with the rotating shaft of the first motor, and picking head is sleeved on transverse screw, the first motor and controller
It is electrically connected with.
It is preferred that scheme in, the device that moves up and down is including vertical screw rod and the second motor, and the second motor is arranged on perpendicular
The end of beam, the rotating shaft of the second motor is connected with vertical screw rod, and crossbeam two ends are sleeved on vertical screw rod, the second motor and control
System is electrically connected with.
It is preferred that scheme in, storage basket is set in the storage tank.
It is preferred that scheme in, the shearing device include the 3rd motor, disk, connecting rod and chopper piece, connecting rod respectively with circle
Disk and chopper piece are hinged, and the rotating shaft of the 3rd motor of circle is connected with disk rotating shaft, and chopper piece is arranged in the chute of picking head, and the 3rd
Motor is electrically connected with control system.
It is preferred that scheme in, the running gear include the 4th motor and road wheel, the 4th motor driving road wheel rotate,
4th motor is electrically connected with control system.
It is preferred that scheme in, the induction installation is photoelectric sensor, and the photoelectric sensor is arranged on the two of picking head
Side.
It is preferred that scheme in, a diameter of 3~5cm in the harvesting hole.
The automatic picking machine of a kind of strawberry that the present invention is provided, by using above structure, it is possible to achieve drawn by air
Mode plucks strawberry, and the ripe strawberry of automatic identification is plucked, it is to avoid directly machinery touches strawberry, a greater degree of to ensure grass
The integrality of the certain kind of berries, realizes the automatic harvesting of strawberry, saves labour, improves picking efficiency.It is preferred that scheme in the storage that sets
Thing basket, the collection of the strawberry after can conveniently plucking is with pouring out.A diameter of 3~5cm in harvesting hole is set, general strawberry leaf
Size prevents from producing strawberry leaves mistake harvesting in 7~8cm or so.
Brief description of the drawings
The invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural representation of picking head of the present invention.
Fig. 3 is the structural representation of suction system of the present invention.
Fig. 4 is the structural representation of another preferred suction system of the present invention.
Fig. 5 is control figure of the invention.
In figure：Fuselage 1, picking head 2, identifying system 3, suction system 4, running gear 5, control system 6, battery 7, vertical beam
11, crossbeam 12 moves left and right device 13, crosses and moves up and down device 14, plucks hole 21, induction installation 22, shearing device 23, first
Camera 31, second camera 32, getter device 41, storage tank 42, inhaling hose 43, barrier 44, storage basket 45, the 4th motor
51, road wheel 52, transverse screw 131, the first motor 132, vertical screw rod 141, the second motor 142, the 3rd motor 231, disk
232, connecting rod 233, chopper piece 234.
Embodiment
As in Fig. 1~3, a kind of automatic picking machine of strawberry, including fuselage 1, picking head 2, identifying system 3, suction system 4,
Running gear 5, control system 6 and battery 7；The front end of fuselage 1 connects vertical beam 11 and crossbeam 12, and picking head 2 is by moving left and right dress
Put 13 to be connected with crossbeam 12, crossbeam 12 is connected by moving up and down device 14 and vertical beam 11；Suction system 4 includes getter device
41st, inhaling hose 43 and storage tank 42, getter device 41 are connected by storage tank 42 with inhaling hose 43；Picking head 2 includes adopting
Hole 21, shearing device 23 and induction installation 22 are plucked, harvesting hole 21 is connected with the air inlet of inhaling hose 43, and shearing device 23 will enter
Enter to pluck the stem cut-out of the strawberry in hole 21；Identifying system 3 includes the first camera 31 and second camera 32, the first camera 31
The upper end of vertical beam 11 is arranged on second camera 32；The downside of fuselage 1 sets running gear 5, and running gear 5 makes before fuselage 1
After move；Control system 6 and running gear 5, identifying system 3, shearing device 23, induction installation 22, move up and down device 14 with
And move left and right device 13 and be electrically connected with.
The one side of identifying system 3 is used for the red and the green of leaf for recognizing strawberry, on the other hand passes through strawberry to first
The position to determine strawberry of camera 31 and the distance of second camera 32, control system 6 is passed to by positional information.
Moving forward and backward for the control picking head 2 of running gear 5, moves up and down moving up and down for the control picking head 2 of device 14, left
Moving left and right for the control picking head 2 of device 13 is moved right, the strawberry of space optional position is plucked so as to realize.
The air that suction system 4 is used to aspirate near air, harvesting hole 21 is acted on by atmospheric pressure, flows into harvesting hole
21, harvesting hole 21, the stem of the cut-out connection strawberry of shearing device 23, so that real can also be entered with air-flow by plucking the strawberry of the front end of hole 21
Now pluck.The whole gas channel of suction system 4 is in air-tight state, prevents gas leakage.
It is preferred that, the junction of the getter device 41 and storage tank 42 sets barrier 44.Prevent the strawberry of storage tank 42
Into in getter device 41.
The device 13 that moves left and right includes the motor 132 of transverse screw 131 and first, and the first motor 131 is arranged on crossbeam
12 end, transverse screw 131 is connected with the rotating shaft of the first motor 132, and picking head 2 is sleeved on transverse screw 131, the first electricity
Machine 132 is electrically connected with control system 6.The rotating of the first motor 132 is controlled by control system 6, transverse screw 131 is driven
Rotation, realize moving left and right for picking head 2.
The mobile device can also use the cooperation of gear and rack, to realize moving left and right for picking head 2.
The device 14 that moves up and down includes the vertical motor 142 of screw rod 141 and second, and the second motor 142 is arranged on vertical beam
11 end, the rotating shaft of the second motor 142 is connected with vertical screw rod 141, and the two ends of crossbeam 12 are sleeved on vertical screw rod 141, the
Two motors 142 are electrically connected with control system 6.The rotating of the second motor 142 is controlled by control system 6, vertical spiral shell is driven
The rotation of bar 141, realizes moving up and down for picking head 2.
It is preferred that such as Fig. 4, storage basket 45 is set in the storage tank 42.The collection of strawberry after can conveniently plucking is with falling
Go out, enter getter device 41 prevented also from strawberry.
The shearing device 23 includes the 3rd motor 231, disk 232, connecting rod 233 and chopper piece 234, and connecting rod 233 is distinguished
It is hinged with disk 232 and chopper piece 234, the rotating shaft of the 3rd motor 231 is connected with the rotating shaft of disk 232, chopper piece 234, which is arranged on, to be adopted
In the chute 24 for plucking first 2, the 3rd motor 231 is electrically connected with control system 6.Control system 6 drives the 3rd motor 231 to rotate one
Week, disk 232 and connecting rod 233 drive chopper piece 234 to move downwardly to lowest limit position, cut strawberry stem, then motion upwards
It is collapsed state to most upper extreme position.
The running gear 5 includes the 4th motor 51 and road wheel 52, and the 4th motor 51 driving road wheel 52 is rotated, and the 4th
Motor 51 is electrically connected with control system 6.
The induction installation 22 is photoelectric sensor, and the photoelectric sensor is arranged on the both sides of picking head 2.Treat harvesting grass
The certain kind of berries enters harvesting hole 21 and is still connected with strawberry stem, and photoelectric sensor sends the signal to control system 6, and the control of control system 6 is cut
The disconnected cut-out of device 23 strawberry stem.
A diameter of 3~5cm in the harvesting hole 21.The size of general strawberry leaf is prevented to strawberry in 7~8cm or so
Leaf produces mistake harvesting.
In specific operating process such as Fig. 5：First camera 31 and second camera 32 recognize the position of ripe strawberry, lead to
Cross control system 6 and control the first motor 132, the second motor 142 and the 4th motor 51, adjust the locus of picking head 2, make
Hole 21 is plucked just to ripe strawberry, starts getter device 41 and is evacuated, when photoelectric sensor senses that strawberry enters harvesting hole
After 21, control system 6 is sent information to, control system 6 controls the 3rd motor 231 to start, and cuts off strawberry stem, completes harvesting,
It is recycled into the harvesting of next strawberry.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as the limitation for the present invention, this hair
Technical characteristic in the technical scheme that bright protection domain should be recorded with claim, including the technical scheme of claim record
Equivalents are protection domain.Equivalent substitution i.e. within this range is improved, also within protection scope of the present invention.
Claims (9)
1. a kind of automatic picking machine of strawberry, it is characterised in that：Including fuselage（1）, picking head（2）, identifying system（3）, air-breathing system
System（4）, running gear（5）, control system（6）And battery（7）；
Fuselage（1）Front end connects vertical beam（11）And crossbeam（12）, picking head（2）By moving left and right device（13）With crossbeam（12）
Connection, crossbeam（12）By moving up and down device（14）And vertical beam（11）Connection；
Suction system（4）Including getter device（41）, inhaling hose（43）And storage tank（42）, getter device（41）Pass through storing
Case（42）With inhaling hose（43）Connection；
Picking head（2）Including harvesting hole（21）, shearing device（23）And induction installation（22）, pluck hole（21）With inhaling hose
（43）Air inlet connection, shearing device（23）Harvesting hole will be entered（21）Strawberry stem cut-out；
Identifying system（3）Including the first camera（31）And second camera（32）, the first camera（31）And second camera
（32）It is arranged on vertical beam（11）Upper end；
Fuselage（1）Downside set running gear（5）, running gear（5）Make fuselage（1）It is movable；
Control system（6）With running gear（5）, identifying system（3）, shearing device（23）, induction installation（22）, move up and down dress
Put（14）And move left and right device（13）It is electrically connected with.
2. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The getter device（41）And storing
Case（42）Junction set barrier（44）.
3. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：It is described to move left and right device（13）Bag
Include transverse screw（131）With the first motor（132）, the first motor（131）Installed in crossbeam（12）End, transverse screw
（131）With the first motor（132）Rotating shaft connection, picking head（2）It is sleeved on transverse screw（131）On, the first motor（132）With
Control system（6）It is electrically connected with.
4. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：It is described to move up and down device（14）Bag
Include vertical screw rod（141）With the second motor（142）, the second motor（142）Installed in vertical beam（11）End, the second motor
（142）Rotating shaft and vertical screw rod（141）Connection, crossbeam（12）Two ends are sleeved on vertical screw rod（141）On, the second motor
（142）With control system（6）It is electrically connected with.
5. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The storage tank（42）It is middle that storage is set
Thing basket（45）.
6. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The shearing device（23）Including
Three motors（231）, disk（232）, connecting rod（233）With chopper piece（234）, connecting rod (233）Respectively with disk (232）With chopper piece
(234) it is hinged, the rotating shaft of the 3rd motor (231) is connected with disk (232) rotating shaft, chopper piece（234）It is arranged on picking head（2）'s
Chute（24）It is interior, the 3rd motor（231）With control system（6）It is electrically connected with.
7. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The running gear（5）Including
Four motors（51）And road wheel（52）, the 4th motor（51）Drive road wheel（52）Rotate, the 4th motor（51）With control system
（6）It is electrically connected with.
8. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The induction installation (22) is photoelectricity
Sensor, the photoelectric sensor is arranged on the both sides of picking head (2).
9. the automatic picking machine of a kind of strawberry according to claim 1, it is characterised in that：The harvesting hole（21）It is a diameter of
3~5cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414765.3A CN107258227A (en) | 2017-06-05 | 2017-06-05 | A kind of automatic picking machine of strawberry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710414765.3A CN107258227A (en) | 2017-06-05 | 2017-06-05 | A kind of automatic picking machine of strawberry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107258227A true CN107258227A (en) | 2017-10-20 |
Family
ID=60065789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710414765.3A Pending CN107258227A (en) | 2017-06-05 | 2017-06-05 | A kind of automatic picking machine of strawberry |
Country Status (1)
| Country | Link |
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| CN (1) | CN107258227A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107690959A (en) * | 2017-11-23 | 2018-02-16 | 重庆大学 | Strawberry seed harvester |
| CN108271525A (en) * | 2018-03-26 | 2018-07-13 | 西南石油大学 | A kind of small-sized strawberry acquisition trolley |
| CN108551870A (en) * | 2018-05-27 | 2018-09-21 | 苏州花坞信息科技有限公司 | One kind plucking apple manipulator |
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN109121686A (en) * | 2018-08-15 | 2019-01-04 | 张传波 | A kind of blueberry picking auxiliary device |
| CN109168630A (en) * | 2018-09-12 | 2019-01-11 | 三峡大学 | A kind of short picking fruit device based on machine vision |
| CN109197149A (en) * | 2018-11-19 | 2019-01-15 | 石家庄铁道大学 | A kind of device for picking |
| CN111279886A (en) * | 2020-04-16 | 2020-06-16 | 山东大学 | Picking device and picking method |
| CN111788997A (en) * | 2020-08-31 | 2020-10-20 | 广西民族师范学院 | Machine equipment is picked to red ball lid mushroom of wine |
| CN113812258A (en) * | 2021-03-17 | 2021-12-21 | 叶金梅 | Automatic change strawberry and pick packagine machine in grades |
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
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| CN206760103U (en) * | 2017-06-05 | 2017-12-19 | 三峡大学 | A kind of automatic picking machine of strawberry |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107690959A (en) * | 2017-11-23 | 2018-02-16 | 重庆大学 | Strawberry seed harvester |
| US11445663B2 (en) | 2018-02-13 | 2022-09-20 | Saga Robotics As | Device for picking fruit comprising overlapping locating members |
| CN108271525A (en) * | 2018-03-26 | 2018-07-13 | 西南石油大学 | A kind of small-sized strawberry acquisition trolley |
| CN108575318A (en) * | 2018-04-20 | 2018-09-28 | 长安大学 | A kind of strawberry automatic picking apparatus and method based on flexible manipulator |
| CN108551870A (en) * | 2018-05-27 | 2018-09-21 | 苏州花坞信息科技有限公司 | One kind plucking apple manipulator |
| CN108834575A (en) * | 2018-05-27 | 2018-11-20 | 苏州花坞信息科技有限公司 | One kind plucking strawberry manipulator |
| CN109005897A (en) * | 2018-05-27 | 2018-12-18 | 苏州花坞信息科技有限公司 | A kind of rapid picking manipulator |
| CN109121686A (en) * | 2018-08-15 | 2019-01-04 | 张传波 | A kind of blueberry picking auxiliary device |
| CN109168630A (en) * | 2018-09-12 | 2019-01-11 | 三峡大学 | A kind of short picking fruit device based on machine vision |
| CN109197149A (en) * | 2018-11-19 | 2019-01-15 | 石家庄铁道大学 | A kind of device for picking |
| CN111279886A (en) * | 2020-04-16 | 2020-06-16 | 山东大学 | Picking device and picking method |
| CN111788997A (en) * | 2020-08-31 | 2020-10-20 | 广西民族师范学院 | Machine equipment is picked to red ball lid mushroom of wine |
| US20220081226A1 (en) * | 2020-09-14 | 2022-03-17 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| US12084296B2 (en) * | 2020-09-14 | 2024-09-10 | Yamaha Hatsudoki Kabushiki Kaisha | Movable harvesting apparatus and harvesting unit |
| CN113812258A (en) * | 2021-03-17 | 2021-12-21 | 叶金梅 | Automatic change strawberry and pick packagine machine in grades |
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Application publication date: 20171020 |
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| RJ01 | Rejection of invention patent application after publication |