CN108377737A - A kind of strawberry picker and its picking method - Google Patents
A kind of strawberry picker and its picking method Download PDFInfo
- Publication number
- CN108377737A CN108377737A CN201810397412.1A CN201810397412A CN108377737A CN 108377737 A CN108377737 A CN 108377737A CN 201810397412 A CN201810397412 A CN 201810397412A CN 108377737 A CN108377737 A CN 108377737A
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- strawberry
- picking
- rocking bar
- picked
- solenoid valve
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Classifications
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- 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
- A01D46/22—Baskets or bags attachable to the picker
-
- 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
- A01D46/30—Robotic devices for individually picking crops
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention relates to a kind of strawberry picker and its picking method, the picker includes picking units, control unit, collector unit, wheel and rack；Wherein, picking units win strawberry to be picked for cutting off strawberry stem；Control unit is used to be monitored strawberry and control the picking units and is picked to meeting the strawberry that picking requires；Strawberry after collector unit is used to pick collects, preserves.The present invention is monitored strawberry by real-time display device, avoids picking jejune strawberry, reduces waste.Rationally strawberry stem is cut by adjusting rocking bar, avoids strawberry stem long, and simple in structure, manufacturing cost is cheap, to different types of strawberry ridge well adapting to property.
Description
Technical field
The invention belongs to agricultural equipment technical fields, and in particular to a kind of strawberry picker and its picking method.
Background technology
Currently, existing strawberry picking machine can substantially be divided into two classes：One kind is indiscriminately to the fruit and cauline leaf of strawberry
It collects together, can not judge whether the strawberry collected is ripe；It is another kind of by visual identity can to strawberry carry out it is more accurate
Positioning and collection, such strawberry picking machine generally comprises basic machine system, vision system, running gear, cultivation system.The
A kind of strawberry picking machine will also pass through subsequent processing after having collected strawberry, can not significantly mitigate very much workload, and be unable to area
Divide strawberry whether ripe, be easy accidentally to pluck prematurity strawberry, and causes certain economic loss to orchard worker；Second class strawberry picking machine
Other than machine itself is complex, cost is higher, to the more demanding of strawberry ridge, generally require orchard worker's tower build it is mating with machine
Strawberry ridge, therefore for the more fixed plantation of some cropping patterns, adaptability is poor.
Invention content
For present on, existing strawberry picking machine cannot accurate harvesting ripe strawberry and machine cost be high, run
The problem of environment harshness, the purpose of the present invention is to provide a kind of strawberry pickers, can selectively win ripe strawberry, and
It is simple in structure, cheap.
A kind of strawberry picker, including：Picking units, control unit, collector unit, wheel and rack；Wherein, it picks
Unit wins strawberry to be picked for cutting off strawberry stem；Control unit is for being monitored strawberry and acquiring image to control
It makes the picking units and is picked to meeting the strawberry that picking requires；Strawberry after collector unit is used to pick collects, protects
It deposits.
Preferably, the picking units include baffle 4, cutter groove 5, rotary type flexible shovel head 6, solenoid valve 7, transverse cuts knife
Piece 8, steering engine 9, rocking bar 10, rocking bar connecting plate 11 and rocking bar platform 17；Wherein, solenoid valve 7 be fixed on rocking bar platform 17 and with
Rocking bar 10 is connected with each other with hinge；Steering engine 9 is connect by rocking bar connecting plate 11 with rocking bar 10, and double rocker mechanism is formed；4 He of baffle
Cutter groove 5 is fixed on rocking bar 10；Transverse cutting blade 8 is located at 5 side of cutter groove, and identical as 4 height of cutter groove；Lead between rocking bar 10
Cross the interconnection of rocking bar connecting plate 11；7 lower end of solenoid valve is connect with rack 18；Rotary type flexible shovel head 6 is fixed in rack 18.
Preferably, described control unit includes real-time display device 1, camera 13, handle 14,15 and of solenoid valve control switch
Power switch 16；Wherein, camera is placed on the picking units, and handle 14 is placed in the side of real-time display device 1, solenoid valve control
System switch 15 is placed in the other side of real-time display device 1, and power switch 16 is placed in the side opposite with handle 14.
Preferably, the collector unit includes collecting box 2 and conveyer belt 3, wherein collecting box 2 be placed in rack 18 and with
Conveyer belt 3 is tangent, and conveyer belt 3 is tightly placed on belt wheel.
Preferably, the transverse cutting blade 8 includes the blade of three pieces arranged in parallel, and every blade can be controlled independently
System.
Preferably, the collecting box 2 can be freely disassembled.
Preferably, described device further includes castor 12, and the castor 12 includes direction-caster and universal wheel.
A kind of strawberry picking method, including：
Strawberry stem is rolled and is sent into region to be picked；
The strawberry image acquired in region to be picked is observed, and selects to meet the strawberry that picking requires；
Suitable incision site is cut on selection strawberry stem, completes picking；
The strawberry picked is collected.
What the present invention was brought has the beneficial effect that：
1, strawberry is judged by real-time display device, can avoids picking jejune strawberry, reduces waste；
2, rationally strawberry stem is cut by adjusting rocking bar, avoids strawberry stem long；
3, simple in structure, manufacturing cost is cheap, to different types of strawberry ridge well adapting to property.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of strawberry picker of the embodiment of the present invention；
Fig. 2 is the close-up schematic view of the strawberry picker control unit of the embodiment of the present invention.
Label is described as follows in attached drawing：
Real-time display device -1, collecting box -2, conveyer belt -3, baffle -4, cutter groove -5, rotary type flexible shovel head -6, electromagnet -
7, transverse cutting blade -8, steering engine -9, rocking bar -10, rocking bar connecting plate -11, castor -12, camera -13, handle -14, electromagnetism
Valve control switch -15, power switch -16, rocking bar platform -17, rack -18.
Specific implementation mode
Technical scheme of the present invention is described in detail with reference to the accompanying drawings and examples：
The strawberry picker of the embodiment of the present invention includes picking units, control unit, collector unit and wheel.Picking is single
Member wins strawberry to be picked for cutting off strawberry stem.Control unit is monitored strawberry and acquires image, and then controls and adopt
It plucks unit and is picked to meeting the strawberry that picking requires.After strawberry is picked, preservation is collected by collector unit.Picking
For device when field is moved, strawberry stem is involved in region to be picked by picking units, and the maturity of strawberry is observed by control unit
And controlling whether picking units are picked, mature strawberry is completed to collect after being picked by collector unit.
Specifically, as shown in Figure 1, in embodiments of the present invention, picking units include baffle 4, cutter groove 5, rotary type flexible
Shovel head 6, solenoid valve 7, transverse cutting blade 8, steering engine 9, rocking bar 10, rocking bar connecting plate 11 and rocking bar platform 17.Wherein, solenoid valve
7 are fixed on rocking bar platform 17 and are connected with each other with hinge with rocking bar 10；Steering engine 9 is connected by rocking bar connecting plate 11 and rocking bar 10
It connects, forms double rocker mechanism, controlled with the swing angle to rocking bar 10；Baffle 4 and cutter groove 5 are fixed on rocking bar 10；It is horizontal
It is located at 5 side of cutter groove to cutting blade 8, and identical as 4 height of cutter groove；It is interconnected by 11 phase of rocking bar connecting plate between rocking bar 10
It connects；Solenoid valve 7 is connect with rack 18 below；Rotary type flexible shovel head 6 is fixed in rack 18.
Collector unit includes collecting box 2 and conveyer belt 3, and collecting box 2 is placed in rack 18 and tangent with conveyer belt 3, transmission
Band 3 is tightly placed on belt wheel, after strawberry is picked, is naturally fallen on conveyer belt 3, rely on belt wheel rotation and with the contact of conveyer belt 3
The frictional force generated between face drives conveyer belt 3 to move so that strawberry is sent in collecting box 2.It should be noted that the present embodiment
In collecting box 2 can be freely disassembled, collecting box 2 can be unloaded from picker and be reinstalled after emptying strawberry.
Fig. 2 is the partial enlarged view of control unit in the present embodiment, as shown in Fig. 2, the control unit of the present embodiment includes
Real-time display device 1, camera 13, handle 14, solenoid valve control switch 15 and power switch 16.Camera 13 is placed in picking units
On, for monitoring strawberry and acquiring image transmitting to real-time display device 1.Handle 14 is placed in the side of real-time display device 1, is used for
Steering engine 9 is controlled, solenoid valve control switch 15 is placed in the other side of real-time display device 1, for controlling solenoid valve 7, power switch 16
It is placed in the side opposite with handle 14.
The embodiment of the invention also includes castor 12, the castor 12 is set to the rear and front end of rack 8, wherein preceding end feet
Wheel 12 uses direction-caster, can move along a straight line；Rear end castor 12 uses universal wheel, allows 360 ° of rotations.
According to the strawberry picker that above-described embodiment provides, the course of work of the embodiment of the present invention is described as follows：
When device is run, rotary type flexible shovel head 6 and baffle 4 are close to ridge face, are sent into after strawberry stem is rolled and wait for Fruit-Picking Area
Domain simultaneously brings cutter groove 5 into, facilitates orchard worker to judge the picking position of strawberry and ensures that strawberry stem is disposably cut off；Camera 13 will be adopted
The strawberry image collected sends real-time display device 1 to, and orchard worker observes strawberry by real-time display device 1 and sentenced according to image
Whether disconnected strawberry, which meets picking, requires, if strawberry meets picking and requires, 7 He of solenoid valve is controlled using solenoid valve control switch 15
Transverse cutting blade 8 thereon cuts strawberry stem to complete the picking to strawberry, wherein transverse cutting blade 8 includes three pieces knife
Piece, and blade is in sustained height arranged in parallel, it can be by 15 independent control of solenoid valve control switch, on the one hand to strawberry stem
Incision site positioning is more flexible, on the other hand can be carried out at the same time picking to multiple strawberries, accelerate picking efficiency.Picking
When, if the stem of strawberry is longer, steering engine 9 is controlled using handle 14, and then adjust rocking bar 10 toward the direction rotation one far from ridge face
Determine angle and reselect incision site to cut to strawberry stem, avoids the strawberry stem after picking long.It picks and completes when strawberry
Afterwards, strawberry can fall on along baffle 4 on conveyer belt 3, and the strawberry of picking is sent into collecting box 2 by conveyer belt 3.
The embodiment of the present invention judges strawberry by real-time display device, avoids picking jejune strawberry, reduces wave
Take.Rationally strawberry stem is cut by adjusting rocking bar, avoids strawberry stem long.The embodiment of the present invention is simple in structure, manufacture
It is of low cost, to different types of strawberry ridge well adapting to property.
The embodiment of the present invention has been merely given as general embodiment, and any embodiment that can embody inventive concept is equal
It should be regarded as not departing from protection scope of the present invention.
Claims (8)
1. a kind of strawberry picker, including：Picking units, control unit, collector unit, wheel and rack；Wherein, picking is single
Member wins strawberry to be picked for cutting off strawberry stem；Control unit is for being monitored strawberry and acquiring image to control
The picking units are picked to meeting the strawberry that picking requires；Strawberry after collector unit is used to pick collects, preserves.
2. the apparatus according to claim 1, which is characterized in that preferred, the picking units include baffle (4), cutter groove
(5), rotary type flexible shovel head (6), solenoid valve (7), transverse cutting blade (8), steering engine (9), rocking bar (10), rocking bar connecting plate
(11) and rocking bar platform (17)；Wherein, solenoid valve (7) is fixed on rocking bar platform (17) and is mutually interconnected with hinge with rocking bar (10)
It connects；Steering engine (9) is connect by rocking bar connecting plate (11) with rocking bar (10), and double rocker mechanism is formed；Baffle (4) and cutter groove (5) are solid
It is scheduled on rocking bar (10)；Transverse cutting blade (8) is located at cutter groove (5) side, and identical as cutter groove (4) height；Rocking bar (10) it
Between pass through rocking bar connecting plate (11) be connected with each other；Solenoid valve (7) lower end is connect with rack (18)；Rotary type flexible shovel head (6) is solid
It is scheduled in rack (18).
3. the apparatus according to claim 1, which is characterized in that described control unit includes real-time display device (1), camera
(13), handle (14), solenoid valve control switch (15) and power switch (16)；Wherein, it is single to be placed in the picking for camera (13)
In member, handle (14) is placed in the side of real-time display device (1), and solenoid valve control switch (15) is placed in the another of real-time display device (1)
Side, power switch (16) are placed in and the opposite side of handle (14).
4. the apparatus according to claim 1, which is characterized in that the collector unit includes collecting box (2) and conveyer belt
(3), wherein collecting box (2) is placed in rack (18) and tangent with conveyer belt (3), and conveyer belt (3) is tightly placed on belt wheel.
5. the apparatus of claim 2, which is characterized in that the transverse cutting blade (8) includes three pieces arranged in parallel
Blade, and every blade being capable of independent control.
6. device according to claim 4, which is characterized in that the collecting box (2) can be freely disassembled.
7. the apparatus according to claim 1, which is characterized in that described device further includes castor (12), the castor (12)
Including direction-caster and universal wheel.
8. a kind of strawberry picking method, including：
Strawberry stem is rolled and is sent into region to be picked；
The strawberry image acquired in region to be picked is observed, and selects to meet the strawberry that picking requires；
Suitable incision site is cut on selection strawberry stem, completes picking；
The strawberry picked is collected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810397412.1A CN108377737B (en) | 2018-04-27 | 2018-04-27 | Strawberry picking device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810397412.1A CN108377737B (en) | 2018-04-27 | 2018-04-27 | Strawberry picking device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108377737A true CN108377737A (en) | 2018-08-10 |
| CN108377737B CN108377737B (en) | 2020-07-10 |
Family
ID=63065903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810397412.1A Active CN108377737B (en) | 2018-04-27 | 2018-04-27 | Strawberry picking device and method |
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| Country | Link |
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| CN (1) | CN108377737B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103766073A (en) * | 2014-02-14 | 2014-05-07 | 江苏大学 | Device and method for picking ridge planting strawberries in greenhouse |
| US20150173297A1 (en) * | 2013-12-20 | 2015-06-25 | Harvest Croo, Llc | Automated selective harvesting of crops |
| CN107624367A (en) * | 2017-10-12 | 2018-01-26 | 谷新运 | More strawberries while picking end effector and corresponding picking mechanism and method |
| CN107690959A (en) * | 2017-11-23 | 2018-02-16 | 重庆大学 | Strawberry seed harvester |
| CN107926288A (en) * | 2017-11-15 | 2018-04-20 | 滁州学院 | The lossless picker of overhead strawberry and its implementation based on machine vision |
-
2018
- 2018-04-27 CN CN201810397412.1A patent/CN108377737B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150173297A1 (en) * | 2013-12-20 | 2015-06-25 | Harvest Croo, Llc | Automated selective harvesting of crops |
| CN103766073A (en) * | 2014-02-14 | 2014-05-07 | 江苏大学 | Device and method for picking ridge planting strawberries in greenhouse |
| CN107624367A (en) * | 2017-10-12 | 2018-01-26 | 谷新运 | More strawberries while picking end effector and corresponding picking mechanism and method |
| CN107926288A (en) * | 2017-11-15 | 2018-04-20 | 滁州学院 | The lossless picker of overhead strawberry and its implementation based on machine vision |
| CN107690959A (en) * | 2017-11-23 | 2018-02-16 | 重庆大学 | Strawberry seed harvester |
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| Publication number | Publication date |
|---|---|
| CN108377737B (en) | 2020-07-10 |
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| CB03 | Change of inventor or designer information |
Inventor after: Guo Ting Inventor after: Zhang Hang Inventor after: Li Jia Inventor after: Chen Cheng Inventor after: Zhang Daokang Inventor after: Li Enyi Inventor after: Quan Shuanglu Inventor after: Bai Wenjie Inventor before: Guo Ting Inventor before: Li Jia Inventor before: Chen Cheng Inventor before: Zhang Daokang Inventor before: Zhang Hang Inventor before: Li Enyi Inventor before: Quan Shuanglu Inventor before: Bai Wenjie |
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