CN108377737B - Strawberry picking device and method - Google Patents

Abstract

The invention relates to a strawberry picking device and a strawberry picking method, wherein the strawberry picking device comprises a picking unit, a control unit, a collecting unit, wheels and a rack; the picking unit is used for cutting off strawberry stems and picking strawberries to be picked; the control unit is used for monitoring the strawberries and controlling the picking unit to pick the strawberries meeting the picking requirement; the collecting unit is used for collecting and storing the picked strawberries. The invention monitors the strawberries through the real-time display, avoids immature strawberries from being picked and reduces waste. Rationally cut the strawberry stem through the adjustment rocker, avoid the strawberry stem overlength, simple structure moreover, low in manufacturing cost is honest and clean, all has better adaptability to the strawberry ridge of different grade type.

Description

Strawberry picking device and method

Technical Field

The invention belongs to the technical field of agricultural equipment, and particularly relates to a strawberry picking device and a strawberry picking method.

Background

Currently, existing strawberry pickers can be broadly divided into two categories: fruits, stems and leaves of strawberries are collected together without selection, and whether the collected strawberries are mature or not can not be judged; the other type of machine can accurately position and collect strawberries through visual identification, and the strawberry picking machine generally comprises a mechanical body system, a visual system, a walking system and a cultivation system. The first type of strawberry picking machine needs subsequent treatment after the strawberries are collected, so that the workload cannot be remarkably reduced, whether the strawberries are mature or not cannot be distinguished, the immature strawberries are easily picked by mistake, and certain economic loss is caused to fruit growers; the second type of strawberry picking machine has higher requirements on strawberry ridges except that the machine is complex and has higher cost, and generally needs a fruit grower to build the strawberry ridges matched with the machine, so that the second type of strawberry picking machine has poorer adaptability to plantation with a fixed planting mode.

Disclosure of Invention

Aiming at the problems that the existing strawberry picking machine can not accurately pick the mature strawberries and the machine has high manufacturing cost and harsh operating environment, the invention aims to provide the strawberry picking device which can selectively pick the mature strawberries and has simple structure and low manufacturing cost.

A strawberry picking device comprising: the picking unit, the control unit, the collecting unit, the wheels and the rack; the picking unit is used for cutting off strawberry stems and picking strawberries to be picked; the control unit is used for monitoring the strawberries and acquiring images to control the picking unit to pick the strawberries meeting the picking requirements; the collecting unit is used for collecting and storing the picked strawberries.

Preferably, the picking unit comprises a baffle 4, a knife groove 5, a rotary flexible shovel head 6, an electromagnetic valve 7, a transverse cutting blade 8, a steering engine 9, a rocker 10, a rocker connecting plate 11 and a rocker platform 17; wherein, the electromagnetic valve 7 is fixed on the rocker platform 17 and is mutually connected with the rocker 10 by a hinge; the steering engine 9 is connected with a rocker 10 through a rocker connecting plate 11 to form a double-rocker mechanism; the baffle 4 and the cutter groove 5 are fixed on the rocker 10; the transverse cutting blade 8 is positioned on one side of the cutter groove 5 and has the same height with the cutter groove 4; the rockers 10 are connected with each other through a rocker connecting plate 11; the lower end of the electromagnetic valve 7 is connected with a frame 18; the rotary flexible shovel head 6 is fixed on the frame 18.

Preferably, the control unit comprises a real-time display 1, a camera 13, a handle 14, a solenoid valve control switch 15 and a power switch 16; wherein, the camera is arranged on the picking unit, the handle 14 is arranged on one side of the real-time display 1, the electromagnetic valve control switch 15 is arranged on the other side of the real-time display 1, and the power switch 16 is arranged on the side opposite to the handle 14.

Preferably, the collection unit comprises a collection bin 2 and a conveyor belt 3, wherein the collection bin 2 is placed on the frame 18 tangentially to the conveyor belt 3, and the conveyor belt 3 is tightly fitted over the belt wheel.

Preferably, the transverse cutting blade 8 comprises three blades arranged side by side, and each blade can be independently controlled.

Preferably, the collecting chamber 2 is freely removable.

Preferably, the device further comprises a caster 12, the caster 12 comprising a directional caster and a universal wheel.

A strawberry picking method comprising:

rolling up strawberry stems and conveying the rolled strawberry stems into a region to be picked;

collecting strawberry images in a region to be picked for observation, and selecting strawberries meeting the picking requirement;

selecting a proper cut position on the strawberry stem for cutting to finish picking;

the harvested strawberries were collected.

The invention has the following beneficial effects:

1. the strawberry is judged through the real-time display, immature strawberries can be prevented from being picked, and waste is reduced;

2. the strawberry stems are reasonably cut by adjusting the rocker, so that the strawberry stems are prevented from being overlong;

3. simple structure, low in manufacturing cost all has better adaptability to the strawberry ridge of different grade type.

Drawings

Fig. 1 is a schematic structural diagram of a strawberry picking device according to an embodiment of the invention;

fig. 2 is a partially enlarged schematic view of a control unit of the strawberry picking apparatus according to an embodiment of the present invention.

The reference numbers in the figures are as follows:

the device comprises a real-time display-1, a collecting box-2, a conveyor belt-3, a baffle-4, a cutter groove-5, a rotary flexible shovel-6, an electromagnet-7, a transverse cutting blade-8, a steering engine-9, a rocker-10, a rocker connecting plate-11, a caster-12, a camera-13, a handle-14, a solenoid valve control switch-15, a power switch-16, a rocker platform-17 and a rack-18.

Detailed Description

The technical scheme of the invention is described in detail in the following with reference to the accompanying drawings and embodiments:

the strawberry picking device comprises a picking unit, a control unit, a collecting unit and wheels. The picking unit is used for cutting off strawberry stems and picking strawberries to be picked. The control unit monitors the strawberries and collects images, and then the picking unit is controlled to pick the strawberries meeting the picking requirements. After the strawberries are picked, the strawberries are collected and stored by a collecting unit. When the picking device moves in the field, the picking unit is rolled into the strawberry stems to be picked areas, the maturity of the strawberries is observed through the control unit, the picking unit is controlled to pick or not, and the mature strawberries are picked and then collected by the collecting unit.

Specifically, as shown in fig. 1, in the embodiment of the present invention, the picking unit includes a baffle 4, a knife slot 5, a rotary flexible shovel head 6, a solenoid valve 7, a transverse cutting blade 8, a steering engine 9, a rocker 10, a rocker connecting plate 11, and a rocker platform 17. Wherein, the electromagnetic valve 7 is fixed on the rocker platform 17 and is mutually connected with the rocker 10 by a hinge; the steering engine 9 is connected with a rocker 10 through a rocker connecting plate 11 to form a double-rocker mechanism so as to control the swinging angle of the rocker 10; the baffle 4 and the cutter groove 5 are fixed on the rocker 10; the transverse cutting blade 8 is positioned on one side of the cutter groove 5 and has the same height with the cutter groove 4; the rockers 10 are connected with each other through a rocker connecting plate 11; the lower side of the electromagnetic valve 7 is connected with a frame 18; the rotary flexible shovel head 6 is fixed on the frame 18.

The collecting unit comprises a collecting box 2 and a conveying belt 3, the collecting box 2 is arranged on the rack 18 and tangent to the conveying belt 3, the conveying belt 3 is tightly sleeved on a belt wheel, strawberries naturally fall onto the conveying belt 3 after being picked, and the conveying belt 3 is driven to move by the friction force generated between the belt wheel and the contact surface of the conveying belt 3, so that the strawberries are conveyed into the collecting box 2. It should be noted that the collecting chamber 2 in this embodiment is freely detachable, and the collecting chamber 2 can be detached from the picking apparatus and reinstalled after emptying the strawberries.

Fig. 2 is a partial enlarged view of the control unit in the present embodiment, and as shown in fig. 2, the control unit in the present embodiment includes a real-time display 1, a camera 13, a handle 14, a solenoid valve control switch 15, and a power switch 16. The camera 13 is arranged on the picking unit and used for monitoring the strawberries and collecting images to be transmitted to the real-time display 1. The handle 14 is arranged on one side of the real-time display 1 and used for controlling the steering engine 9, the electromagnetic valve control switch 15 is arranged on the other side of the real-time display 1 and used for controlling the electromagnetic valve 7, and the power switch 16 is arranged on one side opposite to the handle 14.

The embodiment of the invention also comprises caster wheels 12, wherein the caster wheels 12 are arranged at the front end and the rear end of the frame 8, and the caster wheels 12 at the front end adopt directional caster wheels and can move along a straight line; the rear end caster 12 is a universal wheel, allowing 360 ° rotation.

According to the strawberry picking device provided by the embodiment, the working process of the embodiment of the invention is described as follows:

when the device operates, the rotary flexible shovel head 6 and the baffle 4 are tightly attached to the ridge surface, the strawberry stems are rolled up and then sent into a region to be picked and brought into the cutter groove 5, so that a fruit grower can conveniently judge the picking positions of the strawberries and can ensure that the strawberry stems are cut off at one time; the strawberry image that camera 13 will gather conveys real-time display 1 to, fruit grower observes the strawberry through real-time display 1 and judges whether the strawberry accords with the picking requirement according to the image, if the strawberry accords with the picking requirement, then utilize solenoid valve control switch 15 control solenoid valve 7 and the horizontal cutting blade 8 on it to cut the strawberry stem in order to accomplish the picking to the strawberry, wherein, horizontal cutting blade 8 includes three blades, and the blade is in same height and arranges side by side, 15 independent control of accessible solenoid valve control switch, on the one hand, it is more nimble to the incision position location of strawberry stem, on the other hand can pick a plurality of strawberries simultaneously, pick efficiency has been accelerated. When picking, if the stem of strawberry is longer, then utilize handle 14 control steering wheel 9, and then adjust rocker 10 and rotate certain angle toward the direction of keeping away from the ridge face and reselect the incision position and cut the strawberry stem, avoid the strawberry stem overlength after picking. After the strawberries are picked, the strawberries fall onto the conveyor belt 3 along the baffle 4, and the picked strawberries are conveyed into the collecting box 2 by the conveyor belt 3.

According to the embodiment of the invention, the strawberry is judged through the real-time display, so that immature strawberries are prevented from being picked, and the waste is reduced. Rationally cut the strawberry stem through adjusting the rocker, avoid strawberry stem overlength. The embodiment of the invention has simple structure and low manufacturing cost, and has better adaptability to different types of strawberry ridges.

The embodiments of the invention have been given merely as general examples, and any embodiment that can embody the idea of the invention should be construed as not to depart from the scope of the invention.

Claims (5)

1. A strawberry picking device comprising: the picking unit, the control unit, the collecting unit, the wheels and the rack; the picking unit is used for cutting off strawberry stems and picking strawberries to be picked; the control unit is used for monitoring the strawberries and acquiring images to control the picking unit to pick the strawberries meeting the picking requirements; the collecting unit is used for collecting and storing the picked strawberries; wherein the content of the first and second substances,

the picking unit comprises a baffle (4), a cutter groove (5), a rotary flexible shovel head (6), an electromagnetic valve (7), a transverse cutting blade (8), a steering engine (9), a rocker (10), a rocker connecting plate (11) and a rocker platform (17); wherein, the electromagnetic valve (7) is fixed on the rocker platform (17) and is mutually connected with the rocker (10) through a hinge; the steering engine (9) is connected with the rocker (10) through a rocker connecting plate (11) to form a double-rocker mechanism; the baffle (4) and the cutter groove (5) are fixed on the rocker (10); the transverse cutting blade (8) is positioned on one side of the cutter groove (5) and has the same height with the cutter groove (4); the rockers (10) are connected with each other through a rocker connecting plate (11), and the positions of the strawberry stem cuts are selected by adjusting the rockers (10); the lower end of the electromagnetic valve (7) is connected with the frame (18); the rotary flexible shovel head (6) is fixed on the frame (18);

the transverse cutting blade (8) comprises three blades which are arranged in parallel, and each blade can be independently controlled;

the control unit comprises a real-time display (1), a camera (13), a handle (14), an electromagnetic valve control switch (15) and a power switch (16); the picking device comprises a picking unit, a camera (13), a handle (14), an electromagnetic valve control switch (15), a power switch (16) and a real-time display (1), wherein the picking unit is arranged on the camera, the handle (14) is arranged on one side of the real-time display (1), the electromagnetic valve control switch (15) is arranged on the other side of the real-time display (1), and the power switch (16) is arranged on one side opposite to the handle (;

the handle (14) is used for controlling the steering engine (9) to adjust the rocker (10), so that the cut position of the strawberry stem can be repeatedly selected.

2. Device according to claim 1, characterized in that the collecting unit comprises a collecting bin (2) and a conveyor belt (3), wherein the collecting bin (2) is placed on a frame (18) tangentially to the conveyor belt (3) and the conveyor belt (3) is fitted tightly over a belt wheel.

3. Device according to claim 2, characterized in that the collecting chamber (2) is freely detachable.

4. The device according to claim 1, further comprising a caster (12), the caster (12) comprising a directional caster and a universal wheel.

5. A method of strawberry picking using the apparatus of any one of claims 1 to 4, comprising:

rolling up strawberry stems and conveying the rolled strawberry stems into a region to be picked;

collecting strawberry images in a region to be picked for observation, and selecting strawberries meeting the picking requirement;

selecting a proper cut position on the strawberry stem for cutting to finish picking;

the harvested strawberries were collected.

Images