CN111615930A - Intelligent fruit picking device and working method thereof - Google Patents
Intelligent fruit picking device and working method thereof Download PDFInfo
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- CN111615930A CN111615930A CN202010441085.2A CN202010441085A CN111615930A CN 111615930 A CN111615930 A CN 111615930A CN 202010441085 A CN202010441085 A CN 202010441085A CN 111615930 A CN111615930 A CN 111615930A
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- fruit picking
- fruit
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- electric
- telescopic rod
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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
- A01D46/30—Robotic devices for individually picking crops
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to an intelligent fruit picking device and a working method thereof. The fruit picking mechanism comprises an electric translation mechanism, a camera for shooting fruits to be picked and an electric fruit picker for cutting fruit branches, the electric translation mechanism comprises a guide support, a translation support and a translation motor, the translation support and the guide support are in linear sliding fit, and the guide support is provided with straight teeth arranged along the linear sliding direction; the translation motor is fixed on the translation bracket, and the output shaft of the translation motor is connected with a gear meshed with the straight teeth; the camera and the electric fruit picker are fixed on the translation bracket; the telescopic rod piece is fixedly provided with a display screen, a controller and a control button close to the handheld end. During operation, the picking position is confirmed by the camera, the picking position of the fruit picking end of the telescopic rod piece is adjusted by the electric translation mechanism, the electric fruit picker is used for electrically picking fruits, and the fruit picking operation is convenient and labor-saving.
Description
Technical Field
The invention relates to a picking tool, in particular to an intelligent fruit picking device and a working method thereof.
Background
The fruit picker is a tool convenient for picking fruits and is designed according to the growth state of branches of the fruits or the shapes of the fruits. At present, the most common fruit picker consists of a long rod and a fruit picking cutter, namely, one end of the long rod is used as a handheld end, and the other end of the long rod is connected with the fruit picking cutter for cutting, cutting or pinching branches. The fruit picker obviously wastes time and labor when being operated, is low in efficiency, and is used for identifying the fruit picking position by only depending on human eyes, so that the fruit picker has great limitation, more branches are shielded, and the fruit picking position is not easy to accurately identify. Therefore, the use operation aspect and the intelligentization aspect of the existing fruit picker need to be improved.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide an intelligent fruit picking device and a working method thereof for the field, so that the technical problems of low intelligent degree, time and labor waste in fruit picking operation and low efficiency of the existing fruit picking device are solved. The purpose is realized by the following technical scheme.
An intelligent fruit picking device comprises a telescopic rod piece and a fruit picking mechanism, wherein non-rotary telescopic rods are arranged among all sections of the telescopic rod piece, one end of the telescopic rod piece is a handheld end, the other end of the telescopic rod piece is a fruit picking end, and the fruit picking end is fixedly connected with the fruit picking mechanism; the fruit picking mechanism comprises an electric translation mechanism, a camera and an electric fruit picker, wherein the camera is used for shooting fruits to be picked, the electric fruit picker is used for cutting fruit branches, the electric translation mechanism comprises a guide support, a translation support and a translation motor, the translation support and the guide support are in linear sliding fit, the guide support is provided with straight teeth arranged along the linear sliding direction, the translation motor is fixed on the translation support, an output shaft of the translation motor is connected with a gear, the gear is meshed with the straight teeth, namely, the relative sliding between the translation support and the guide support is controlled by the translation motor; the camera and the electric fruit picker are fixed on the translation bracket; the telescopic rod piece is close to the handheld end and is fixedly provided with a display screen for displaying image information of the camera, a controller and a control button for controlling the translation motor, the electric fruit picker, the camera and the display screen to work, and the controller is powered by an external mobile power supply. Through the structure, the fruit picking position is conveniently confirmed by the camera, the electric translation mechanism is additionally arranged, the fruit picking position of the fruit picking end is adjusted by the telescopic rod piece under the condition that the telescopic rod piece is not moved conveniently, the electric fruit picking device is used for realizing electric fruit picking, and the electric fruit picking device is convenient to operate and labor-saving.
The electric fruit picker comprises a rotating motor and a cutter, the cutter is a sawblade or a sickle, the translation support is provided with a convex rod seat, the rotating motor is fixed on the rod seat, and an output shaft of the rotating motor is directly and fixedly connected with the cutter. The electric fruit picker is convenient to realize cutting type fruit picking operation.
The electric fruit picker comprises a rotating motor, a cam and a scissor device, wherein the translation bracket is provided with a raised rod seat, the rotating motor is fixed on the rod seat, and an output shaft of the rotating motor is fixedly connected with the cam; the scissors device comprises scissors and an insertion pipe, wherein a torsional spring is arranged at the hinged position of the scissors, and the cutting edge of the scissors keeps an opening state under the action of the torsional spring; one scissor handle of the scissors is fixed with the insertion tube, the insertion tube is inserted and limited in the rod base, and the insertion tube and the rod base are locked and fixed through screws; another scissors handle of scissors with the cam linkage, the linkage state is: when the cam rotates for a circle, the cam is propped against the corresponding scissor handle to be linked, so that the scissors form a one-time shearing closing. The structure is convenient to realize shearing type fruit picking operation.
At least one pole section is electronic extending structure in the flexible member, and electronic extending structure includes flexible motor, screw rod, and the output shaft fixed connection screw rod of flexible motor is equipped with the screw seat of being connected with screw rod screw thread transmission in the electronic flexible pole section, flexible motor electricity is connected controller and corresponding control button. Through this structure, conveniently realize the electronic flexible regulation of flexible member, it is comparatively laborsaving, convenient to use.
The fruit picking mechanism comprises a distance sensor for sensing the picking distance between the electric fruit picker and the fruit to be picked, the picking distance refers to the distance between the electric fruit picker and the fruit to be picked, the distance sensor is fixed on the translation support, the distance sensor is electrically connected with the controller, signals sensed by the distance sensor are displayed on the display screen, and when the signal values sensed by the distance sensor meet picking conditions, the controller controls the electric fruit picker to start. Through the structure, the distance sensor is used for sensing the fruit picking distance, so that intelligent automatic fruit picking operation is conveniently realized.
The control button comprises a translation button for controlling the translation motor to work, a telescopic button for controlling the telescopic motor to work and a fruit picking button for controlling the rotating motor to work. Through the structure, the electric translation mechanism can be conveniently and manually controlled to translate, stretch and retract the telescopic rod piece, and the fruit picker can be conveniently opened.
The intelligent fruit picking device further comprises a strap mechanism, the strap mechanism is composed of a strap and a waistband which are connected, and a trepanning seat used for inserting and positioning the handheld end of the telescopic rod piece is arranged at the waistband. Through this structure, make the use operation of intelligence fruit picking device more laborsaving.
This fruit device is plucked to intelligence still includes buffering net mechanism, and buffering net mechanism includes strut and the open net cover in both ends, and the strut is fixed in flexible member plucks the fruit end, and the strut is plucking the fruit end and is plucking the fruit and fall the entry, and the strut is right the uncovered end of net cover one end forms the annular support, the part of net cover overlap in flexible member is outside, and the net cover other end is linked together with the fruit bag. Through this structure, drop to the fruit and play effectual protection.
The outside ligature of dictyosome is equipped with the magic and pastes the constraint area. Through this structure, the trepanning size of convenient adjustment net cover to the buffering requirement that drops that adapts to different fruits.
The working method of the intelligent fruit picking device comprises the following steps:
step 1: starting;
step 2: initializing each function, setting the telescopic direction of a telescopic rod piece (1) as a Z direction, setting the moving direction of an electric translation mechanism (2) in a fruit picking mechanism as a Y direction, setting the manual control moving direction of the telescopic rod piece as an X direction, and forming a spatial rectangular coordinate system in the X direction, the Y direction and the Z direction;
step 3: manually controlling the telescopic rod piece to reach the required length, and moving the telescopic rod piece to the designated fruit picking range;
step 4: selecting manual fruit picking or automatic fruit picking, and if the manual fruit picking is selected, executing Step 5; if automatic fruit picking is selected, Step9 is executed;
step 5: the movement of the telescopic rod in X, Y, Z three directions is manually controlled by matching with the image information of the camera displayed in the display, and the fruit picking position is confirmed;
step 6: whether the fruit picking position is reached or not, if yes, executing Step 8; if not, executing Step 7;
step 7: according to the image information of the camera of the display screen, the electric translation mechanism is controlled to move in the Y direction and/or stretch in the Z direction through the control button, and Step6 is executed again;
step 8: the electric fruit picking device (3) is started through a control button to realize manual fruit picking operation, and Step12 is executed after fruit picking is finished;
step 9: according to camera image information displayed in a display (9), the telescopic rod piece is manually controlled to move in the X direction, and the electric translation mechanism and the telescopic rod piece automatically control Y-direction translation adjustment of the electric translation mechanism and Z-direction telescopic adjustment of the telescopic rod piece according to sensing signals of a distance sensor;
step 10: judging whether the Y-direction adjustment and the Z-direction adjustment of the electric translation mechanism exceed adjustable range values, if so, returning to Step 9; if not, executing Step 11;
step 11: the electric fruit picker is automatically started by the controller;
The invention has the advantages that: when picking fruits, the position is observed by means of the camera, manual and automatic fruit picking operation can be realized according to needs, the fruit picking device is convenient to use and efficient, and is suitable for being used as a fruit picking device or improving the structure of the similar device.
Drawings
FIG. 1 is a schematic perspective view of the present invention, partially in section and enlarged.
FIG. 2 is a partial structure diagram of the fruit picking end of the present invention.
FIG. 3 is a schematic view of the structure of the electric fruit picker with the cutter as a saw blade.
FIG. 4 is a schematic view of the structure of the electric fruit picker with the knife being a sickle.
FIG. 5 is a schematic view of the fruit picking end connecting scissors device of the present invention.
Fig. 6 is a schematic structural view of the working state of the scissors device of the invention.
FIG. 7 is a schematic view showing the operation of the scissors device of the present invention.
Fig. 8 is a control principle reference diagram of the present invention.
FIG. 9 is a schematic flow chart of the method of the present invention.
The sequence numbers and names in the figure are: 1. the fruit picking device comprises a telescopic rod piece, 101, a handheld end, 102, a fruit picking end, 103, a rod section, 2, an electric translation mechanism, 201, a guide support, 202, a translation support, 203, a translation motor, 204, a rod seat, 3, an electric fruit picking device, 301, a rotating motor, 302, a cutter, 4, a camera, 5, a distance sensor, 6, a telescopic motor, 7, a screw rod, 8, a fruit picking button, 9, a display screen, 10, a buffering net mechanism, 1001, a support frame, 1002, a net sleeve, 11, a magic tape binding belt, 12, a fruit bag, 13, a braces mechanism, 1301, a trepanning seat, 14, scissors, 15, a torsion spring, 16, an insertion tube, 17 and a cam.
Detailed Description
The invention will now be further described with reference to the accompanying drawings.
As shown in fig. 1-8, the intelligent fruit picking device comprises a telescopic rod member 1 and a fruit picking mechanism, wherein each section of the telescopic rod member is non-rotary telescopic, namely, each section can only relatively extend and retract and cannot relatively rotate, at least one rod section 103 in the telescopic rod member is an electric telescopic structure, the electric telescopic structure comprises a telescopic motor 6, a screw rod 7, an output shaft of the telescopic motor is fixedly connected with the screw rod, a screw hole seat connected with the screw rod in a threaded transmission manner is arranged in the electric telescopic rod section, and the telescopic motor is electrically connected with a controller and a corresponding telescopic button. When the telescopic button is pressed down, the telescopic motor drives the screw rod to rotate, the screw rod is in transmission with the screw hole seat, and telescopic adjustment of the rod section is achieved.
One end of the telescopic rod 1 is a handheld end 101, the other end is a fruit picking end 102, and the fruit picking end is fixedly connected with a fruit picking mechanism. This pluck fruit mechanism includes electronic translation mechanism 2, a camera 4 for treating plucking fruit, and be used for cutting the electronic fruit picker 3 of fruit branch pole, electronic translation mechanism includes guide bracket 201, translation support 202, translation motor 203, translation support is sharp sliding fit with guide bracket, the translation support is equipped with the slide opening of slip cross-under guide bracket promptly, the side sets up the straight-tooth along the linear sliding direction on the guide bracket, translation motor is fixed in the translation support, translation motor's output shaft connecting gear, gear and above-mentioned straight-tooth meshing transmission, relative slip between translation support and the guide bracket is driven by translation motor and is realized promptly. The camera and the electric fruit picker are fixed on the translation support. The display screen 9 that above-mentioned flexible member is close to handheld end fixed and is equipped with demonstration camera image information to and control translation motor, electronic fruit picking device, camera, controller and the control button of display screen work, control button is including the translation button of control translation motor work, and the fruit picking button 8 of electronic fruit picking device of control, and the controller is supplied power by outside portable power source.
The electric fruit picker 3 comprises the following two scheme structures.
The scheme has the structure as follows: the electric fruit picker comprises a rotary motor 301 and a cutter 302, the cutter is a sawblade or a sickle, a translation support 202 is provided with a convex rod seat 204, the rotary motor is fixed on the rod seat, an output shaft of the rotary motor is directly and fixedly connected with the cutter, namely, the rotary motor directly drives the cutter to realize cutting operation, and the rotary motor is controlled by the controller and a fruit picking button 8.
The scheme has a structure II: the electric fruit picker comprises a rotating motor 301, a cam 17 and a scissor device, wherein a translation bracket 202 is provided with a raised rod seat 204, the rotating motor is fixed on the rod seat, and an output shaft of the rotating motor is fixedly connected with the cam; the scissors device comprises scissors 14 and an insertion pipe 16, wherein a torsional spring 15 is arranged at the hinged position of the scissors, and the scissors keep an opening state under the action of the torsional spring. One scissor handle of the scissors is fixed with the insertion tube, the insertion tube is inserted and limited in the rod base, and the insertion tube and the rod base are locked and fixed through screws; another scissors handle and the cam linkage of scissors, the linkage state is: when the cam rotates for a circle, the cam is abutted against the corresponding scissor handle and is linked with the scissor handle to control the scissors to complete one-time shearing closing operation. Under this structure, when needing to change into above-mentioned scheme structure, only need to lift off the scissors ware to the cutter in scheme structure one is replaced to the cam.
In order to realize automatic fruit picking operation, the fruit picking mechanism further comprises a distance sensor 5 for sensing a picking distance between the electric fruit picker 3 and the fruit to be picked, the picking distance refers to the distance which is enough for cutting branches of the fruit to be picked when the electric fruit picker extends along with the telescopic rod, the distance sensor is fixed on the translation support 202 and is electrically connected with the controller, signals sensed by the distance sensor are displayed on the display screen 9, and when the signal values sensed by the distance sensor meet picking conditions, the controller controls the electric fruit picker to start.
In order to facilitate the use and the operation of the intelligent fruit picker, the intelligent fruit picker is more labor-saving, and the intelligent fruit picker further comprises a strap mechanism 13, wherein the strap mechanism consists of a strap and a waistband which are connected, and the waistband is provided with a trepanning seat 1301 for inserting and positioning a handheld end of a telescopic rod piece.
In order to effectively protect when dropping the fruit of plucking, this fruit device is plucked to intelligence still includes buffering net mechanism 10, buffering net mechanism includes strut 1001 and the open net cover 1002 in both ends, the strut is fixed in flexible member 1 plucks fruit end 102, and the strut is plucking the fruit end and is forming the fruit and fall the entry, the strut forms annular support to the open end of net cover one end, the part cover of net cover is outside in flexible member, and the net cover other end is linked together with fruit bag 12, convenient direct fruit bagging-off operation.
In order to adjust the size of the trepanning of the net sleeve 1002 conveniently, a magic tape binding belt 11 is bound outside the net sleeve so as to meet the fruit picking buffering requirements of different fruits.
As shown in fig. 9, based on the above structure, the working method of the intelligent fruit picking device comprises the following steps:
step 1: starting;
step 2: initializing each function, setting the telescopic direction of a telescopic rod piece 1 as a Z direction, setting the moving direction of an electric translation mechanism (2) in a fruit picking mechanism as a Y direction, setting the manual control moving direction of the telescopic rod piece as an X direction, and forming a space rectangular coordinate system in the X direction, the Y direction and the Z direction;
step 3: manually controlling the telescopic rod piece to reach the required length, and moving the telescopic rod piece to the designated fruit picking range;
step 4: selecting manual fruit picking or automatic fruit picking, and if the manual fruit picking is selected, executing Step 5; if automatic fruit picking is selected, Step9 is executed;
step 5: the movement of the telescopic rod in X, Y, Z three directions is manually controlled by matching with the image information of the camera displayed in the display 9, and the fruit picking position is confirmed;
step 6: whether the fruit picking position is reached or not, if yes, executing Step 8; if not, executing Step 7;
step 7: according to the image information of the camera of the display screen, the electric translation mechanism is controlled to move in the Y direction and/or stretch in the Z direction through the control button, and Step6 is executed again;
step 8: the electric fruit picker 3 is started through a control button to realize manual fruit picking operation, and Step12 is executed after fruit picking is finished;
step 9: according to the image information of a camera displayed in a display, the telescopic rod piece is manually controlled to move in the X direction, and the electric translation mechanism and the telescopic rod piece automatically control the Y-direction translation adjustment of the electric translation mechanism and the Z-direction telescopic adjustment of the telescopic rod piece according to the sensing signal of the distance sensor;
step 10: judging whether the Y-direction adjustment and the Z-direction adjustment of the electric translation mechanism exceed adjustable range values, if so, returning to Step 9; if not, executing Step 11;
step 11: the electric fruit picker is automatically started by the controller;
Claims (10)
1. An intelligent fruit picking device comprises a telescopic rod piece (1) and a fruit picking mechanism, wherein non-rotary telescopic rods are arranged among sections of the telescopic rod piece, one end of the telescopic rod piece is a handheld end (101), the other end of the telescopic rod piece is a fruit picking end (102), and the fruit picking end is fixedly connected with the fruit picking mechanism; the fruit picking mechanism is characterized by comprising an electric translation mechanism (2), a camera (4) for shooting fruits to be picked and an electric fruit picker (3) for cutting fruit branches, wherein the electric translation mechanism comprises a guide support (201), a translation support (202) and a translation motor (203), the translation support and the guide support are in linear sliding fit, the guide support is provided with straight teeth arranged along a linear sliding direction, the translation motor is fixed on the translation support, an output shaft of the translation motor is connected with a gear, the gear is meshed with the straight teeth, namely, the relative sliding between the translation support and the guide support is controlled by the translation motor; the camera and the electric fruit picker are fixed on the translation bracket; the telescopic rod piece (1) is close to a handheld end (101) and is fixedly provided with a display screen (9) for displaying image information of the camera, and controls a controller and a control button of the work of the translation motor, the electric fruit picking device, the camera and the display screen, and the controller is powered by an external mobile power supply.
2. The intelligent fruit picking device according to claim 1, characterized in that the electric fruit picker (3) comprises a rotary motor (301) and a cutter (302), the cutter is a sawblade or a sickle, the translation support (202) is provided with a raised rod seat (204), the rotary motor is fixed on the rod seat, and an output shaft of the rotary motor is directly and fixedly connected with the cutter.
3. The intelligent fruit picking device according to claim 1, characterized in that the electric fruit picking device (3) comprises a rotating motor (301), a cam (17) and a scissor device, the translation bracket (202) is provided with a raised rod seat (204), the rotating motor is fixed on the rod seat, and an output shaft of the rotating motor is fixedly connected with the cam; the scissors device comprises scissors (14) and an insertion pipe (16), a torsional spring (15) is arranged at the hinged position of the scissors, and the cutting edge of the scissors keeps an open state under the action of the torsional spring; one scissor handle of the scissors is fixed with the insertion tube, the insertion tube is inserted and limited in the rod base, and the insertion tube and the rod base are locked and fixed through screws; another scissors handle of scissors with the cam linkage, the linkage state is: when the cam rotates for a circle, the cam is propped against the corresponding scissor handle to be linked, so that the scissors form a one-time shearing closing.
4. The intelligent fruit picking device according to claim 1, wherein at least one rod section (103) of the telescopic rod (1) is an electric telescopic structure, the electric telescopic structure comprises a telescopic motor (6) and a screw rod (7), an output shaft of the telescopic motor is fixedly connected with the screw rod, a screw hole seat in threaded transmission connection with the screw rod is arranged in the electric telescopic rod section, and the telescopic motor is electrically connected with the controller and a corresponding control button.
5. The intelligent fruit picking device according to claim 4, characterized in that the fruit picking mechanism comprises a distance sensor (5) for sensing a picking distance between the electric fruit picker (3) and the fruit to be picked, the picking distance is a distance at which the electric fruit picker extends along with the telescopic rod member to a distance sufficient to cut branches of the fruit to be picked, the distance sensor is fixed to the translation bracket (202), the distance sensor is electrically connected to the controller, a signal sensed by the distance sensor is displayed on the display screen (9), and the controller controls the electric fruit picker (3) to be started when a signal value sensed by the distance sensor meets a picking condition.
6. An intelligent fruit picking device according to claim 5, characterised in that the control buttons include a translation button controlling the operation of the translation motor (203), a telescoping button controlling the operation of the telescoping motor (6), and a fruit picking button (8) controlling the operation of the rotary motor (301).
7. The intelligent fruit picking device according to claim 5, characterized in that the intelligent fruit picking device further comprises a strap mechanism (13), the strap mechanism is composed of a connected strap and a belt, and a trepanning seat (1301) for inserting and positioning the handheld end (101) of the telescopic rod piece (1) is arranged at the belt.
8. The intelligent fruit picking device according to claim 5, characterized in that the intelligent fruit picking device further comprises a buffer net mechanism (10), the buffer net mechanism comprises a support frame (1001) and a net sleeve (1002) with two open ends, the support frame is fixed at the fruit picking end (102) of the telescopic rod piece (1), the support frame forms a fruit picking falling inlet at the fruit picking end, the support frame forms an annular support for the open end at one end of the net sleeve, part of the net sleeve is sleeved outside the telescopic rod piece, and the other end of the net sleeve is communicated with the fruit bag (12).
9. The intelligent fruit picking device according to claim 8, wherein a magic tape binding belt (11) is bound on the outer portion of the net sleeve (1002).
10. The working method of the intelligent fruit picking device as claimed in claim 6, comprising the following steps:
step 1: starting;
step 2: initializing each function, setting the telescopic direction of a telescopic rod piece (1) as a Z direction, setting the moving direction of an electric translation mechanism (2) in a fruit picking mechanism as a Y direction, setting the manual control moving direction of the telescopic rod piece as an X direction, and forming a spatial rectangular coordinate system in the X direction, the Y direction and the Z direction;
step 3: manually controlling the telescopic rod piece to reach the required length, and moving the telescopic rod piece to the designated fruit picking range;
step 4: selecting manual fruit picking or automatic fruit picking, and if the manual fruit picking is selected, executing Step 5; if automatic fruit picking is selected, Step9 is executed;
step 5: the movement of the telescopic rod in X, Y, Z three directions is manually controlled by matching with the image information of the camera displayed in the display (9) to confirm the fruit picking position;
step 6: whether the fruit picking position is reached or not, if yes, executing Step 8; if not, executing Step 7;
step 7: according to the image information of the camera of the display screen, the electric translation mechanism is controlled to move in the Y direction and/or stretch in the Z direction through the control button, and Step6 is executed again;
step 8: the electric fruit picking device (3) is started through a control button to realize manual fruit picking operation, and Step12 is executed after fruit picking is finished;
step 9: according to the image information of a camera displayed in a display, the telescopic rod piece is manually controlled to move in the X direction, and the electric translation mechanism and the telescopic rod piece automatically control the Y-direction translation adjustment of the electric translation mechanism and the Z-direction telescopic adjustment of the telescopic rod piece according to the sensing signal of the distance sensor;
step 10: judging whether the Y-direction adjustment and the Z-direction adjustment of the electric translation mechanism exceed adjustable range values, if so, returning to Step 9; if not, executing Step 11;
step 11: the electric fruit picker is automatically started by the controller;
step 12; and (5) finishing fruit picking.
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| CN202010441085.2A CN111615930A (en) | 2020-05-22 | 2020-05-22 | Intelligent fruit picking device and working method thereof |
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| CN209861643U (en) * | 2019-04-10 | 2019-12-31 | 浙江工业职业技术学院 | Fruit picking manipulator |
| CN212728102U (en) * | 2020-05-22 | 2021-03-19 | 泉州信息工程学院 | Intelligent fruit picking device |
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