CN113728805A - Berry harvesting mechanical device and control method thereof - Google Patents
Berry harvesting mechanical device and control method thereof Download PDFInfo
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- CN113728805A CN113728805A CN202110850052.8A CN202110850052A CN113728805A CN 113728805 A CN113728805 A CN 113728805A CN 202110850052 A CN202110850052 A CN 202110850052A CN 113728805 A CN113728805 A CN 113728805A
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- harvesting
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D91/00—Methods for harvesting agricultural products
- A01D91/04—Products growing above the soil
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a berry harvesting mechanical device and a control method thereof, wherein the berry harvesting mechanical device comprises a mechanical body, a walking device is arranged at the bottom of the mechanical body, a harvesting device is arranged at the top of the mechanical body, a plurality of detection devices are arranged at the bottom of the mechanical body, the detection devices are connected with a control system, a plurality of vibrators are arranged in the harvesting device, a vibrating rod is arranged at the tail end of each vibrator, and a collecting bag is arranged at the bottom of the harvesting device. The control platform is friendly in design interface, relevant data states of the harvesting machine are displayed in real time and can be remotely controlled, distance data are set during remote control, and when walking data of the walking device reach the set data, the walking device stops advancing and returns, so that labor is liberated, production efficiency is improved, development of relevant industries is driven, more employment opportunities are created, and income of farmers is increased.
Description
Technical Field
The invention relates to a harvesting mechanical device and a control method thereof, in particular to a berry harvesting mechanical device and a control method thereof.
Background
In the planting production of berries, the manual picking operation is the most time-consuming and labor-consuming link in the production of berries. The berry has the characteristics of small fruit, high yield and the like, so that the picking and harvesting become labor-intensive work, and the picking and harvesting are time-consuming and labor-consuming. Today, the labor cost is higher and higher, the berry production and harvesting benefit is closely related to the labor cost, a set of berry harvesting operation machine suitable for China is developed, and the method has important significance for agricultural development.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a berry harvesting mechanical device and a control method thereof so as to improve the harvesting efficiency.
The technical scheme is as follows: the harvesting machine comprises a machine body, wherein a walking device is arranged at the bottom of the machine body, a harvesting device is arranged at the top of the machine body, a plurality of detection devices are arranged at the bottom of the machine body and are connected with a control system, a plurality of vibrators are arranged in the harvesting device, vibrating rods are arranged at the tail ends of the vibrators, and a collecting bag is arranged at the bottom of the harvesting device.
The harvesting device is connected with the mechanical body through a telescopic device.
And a power supply device is arranged in the machine body.
The detection device is a sensing detection device, and the parking position of the mechanical body is determined by detecting ground positioning points.
The control system is a control platform or a remote controller, the traveling distance of the traveling device is controlled according to the set distance data in the remote control state, and when the set distance data is reached, the traveling device stops advancing and returns.
The control platform is arranged in the machine body.
The harvesting device adopts an electric openable harvesting device, the harvesting device comprises a harvesting frame, two ends of the harvesting frame are provided with hinges, and the hinges are provided with motors.
A method of controlling a berry harvesting mechanism, comprising the steps of:
(1) starting the device, and enabling the mechanical body to walk forwards at a constant speed;
(2) the sensing detection device arranged at the bottom of the machine body detects ground positioning points, and effective detection signals are used for determining the parking position of the walking device and the action of the electric openable and closable harvesting device;
(3) if the sensing detection device does not detect the effective signal, the walking device continues to walk forwards at a constant speed; when an effective signal is detected, the walking device decelerates and stops, the electric openable and closable harvesting device is controlled to act, after the harvesting device finishes the action of the relevant harvesting machinery within the set time, the harvesting device returns to the initial static non-harvesting state, the walking device cancels the stop, and continues to move forwards.
The step (3) specifically comprises the following steps:
(31) when the sensing detection device does not detect the ground effective signal, the walking device walks forwards at a constant speed, and the harvesting device is in a static non-working state and is folded on the mechanical body;
(32) when the sensing detection device detects a ground effective signal, the walking device decelerates and stops, the harvesting device is folded upwards from the mechanical body through the electric telescopic rod and the related hinge and approaches to the berry tree, the motor controls the electric harvesting frame to be unfolded and approach to the berry tree, and the motor folds the harvesting frame to fold the berry tree in the harvesting frame;
(33) controlling a vibrating rod in the harvesting frame to beat and pulp fruit branches by setting beating frequency and time;
(34) the berry branch is patted to the vibrating arm, slaps berry from the branch, falls into in the collection bag of lower extreme, and after accomplishing relevant results mechanical action according to the settlement time, the motor opens the results frame, makes the results frame leave the thick liquid fruit tree through electric telescopic handle to roll over and place on mechanical body, make harvesting device resume initial static not results the state.
Has the advantages that: the control platform is friendly in design interface, relevant data states of the harvesting machine are displayed in real time and can be remotely controlled, distance data are set during remote control, and when walking data of the walking device reach the set data, the walking device stops advancing and returns, so that labor is liberated, production efficiency is improved, development of relevant industries is driven, more employment opportunities are created, and income of farmers is increased.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a control flow chart of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, the invention comprises a machine body 12, a walking device 1, a telescopic device, a control system, a harvesting device 4 and sensing detection devices 6, wherein the walking device 1 is installed at the bottom of the machine body 12, the harvesting device 4 is installed at the top of the machine body 12, a plurality of sensing detection devices 6 are installed at the bottom of the machine body 12, and the sensing detection devices 6 are connected with the control system. The control system adopts a control platform 3 or a remote controller 11, the control platform 3 is arranged on a machine body 12, and the device of the invention is started through the control platform 3 or the remote controller 11. Harvesting device 4 adopts electronic harvesting device that can open and shut, installs at mechanical body 12 top through the telescoping device, and the telescoping device includes electric telescopic handle 2, and when sensing detection device 6 gathered effective signal, running gear 1 slows down and parks, and harvesting device 4 upwards, preceding turning over are located from mechanical body 12 through electric telescopic handle 2 to be close to berry tree.
Harvesting device 4 includes the results frame, and the hinge is installed at results frame both ends, installs motor 5 on the hinge, opens and shuts through motor 5 control results frame, draws in berry tree in the results frame. The interval is equipped with a plurality of vibrators 7 on the results frame, and vibrating arm 8 is installed to vibrator 7 end, and the results frame bottom is installed and is collected bag 9 for collect berry. Through setting up flapping frequency and time, the vibrating arm 8 of control in the results frame pats the berry branch, and the berry slaps from the branch, falls into in the collection bag 9 of lower extreme. After the actions of the relevant harvesting machinery are finished according to the set time, the motor 5 opens the harvesting frame, the electric telescopic rod enables the harvesting frame to be away from the berry tree and is folded and placed on the mechanical body 12, and the harvesting device 4 is enabled to be recovered to the initial static non-harvesting state.
The sensing detection device 6 comprises a plurality of sensors and is used for determining the parking position of the mechanical body 12 and the action of the electric foldable harvesting device by detecting ground positioning points, when a ground effective detection signal is not detected, the walking device 1 moves forwards at a constant speed according to a set speed, and the harvesting device 4 is in a static non-working state and is folded on the mechanical body 12; when sensing detection device 6 gathered effective signal, walking device 1 slows down and parks, and the control is electronic can open to close harvesting apparatus and be close to the berry tree, and motor 5 makes electronic results frame open and draws in the thick liquid fruit tree in, and adjustable frequency vibrating arm 8 patts the berry branch, realizes patting the berry from the branch, falls into in the lower extreme collection bag 9.
After the harvesting device 4 finishes the action of the relevant harvesting machinery within the set time, the harvesting device 4 is recovered to the initial static non-harvesting state; 1 cancellation of running gear parks to continue to move forward, when effective signal was gathered once more to sensing detection device 6, 1 parking that slows down once more of running gear, the control is electronic can open and close harvesting apparatus 4 and be close to the berry tree, and motor 5 makes electronic results frame open and draw in the thick liquid fruit tree in, but the vibrating arm of can transferring frequencies pat the berry branch, realizes patting the berry from the branch, falls into in the lower extreme collection bag. In the remote control, distance data is set, and when the traveling data of the traveling device reaches the set data, the traveling device 1 stops traveling and returns.
The control method of the invention comprises the following steps:
(1) the control platform or the remote controller starts the device, and the mechanical body walks forwards at a constant speed;
(2) the sensing detection device arranged at the bottom of the mechanical body detects ground positioning points, and effective detection signals are used for determining the parking position of the mechanical body and the action of the electric openable and closable harvesting device;
(3) when the sensor detection device arranged at the bottom does not detect an effective signal, the walking device continues to walk forwards at a constant speed; when an effective signal is detected, the walking device decelerates and stops, and the electric openable and closable harvesting device is controlled to act, and after the harvesting device finishes the action of the relevant harvesting machinery within the set time, the harvesting device returns to the initial static non-harvesting state; the running gear cancels the parking and continues to run forwards. During remote control, distance data are set, and when walking data of the walking device reach the set data, the walking device stops advancing and returns, and the method specifically comprises the following steps:
(31) when the sensing detection device does not detect an effective ground detection signal, the walking device walks forwards at a constant speed, and the harvesting device is in a static non-working state and is folded on the mechanical body;
(32) when the sensing detection device detects an effective signal, the walking device decelerates and stops, the harvesting device is turned upwards and forwards from the mechanical body through the electric telescopic rod and the related hinge and approaches to the berry tree, the motor controls the electric harvesting frame to open and approach to the berry tree, and then the harvesting frame is closed through the opening and closing motor to fold the berry tree in the harvesting frame;
(33) controlling a vibrating rod in the harvesting frame to beat and pulp fruit branches by setting beating frequency and time;
(34) the berry branch is patted to the vibrating arm, and berry slaps from the branch, falls into in the collection bag of lower extreme, after accomplishing relevant results mechanical action according to the settlement time, opens and closes the motor and opens the results frame, makes the results frame leave the thick liquid fruit tree through electric telescopic handle to the book is placed on mechanical body, makes harvesting device resume initial static not results the state.
Claims (9)
1. The utility model provides a berry results mechanical device, a serial communication port, includes machinery body (12), running gear (1) is installed to machinery body (12) bottom, and harvesting device (4) are installed at machinery body (12) top, and a plurality of detection device are installed to machinery body (12) bottom, detection device be connected with control system, harvesting device (4) in be equipped with a plurality of vibrators (7), vibrator (7) end install vibrating arm (8), harvesting device (4) bottom is installed and is collected bag (9).
2. A berry harvesting mechanism according to claim 1, characterized in that said harvesting unit (4) is connected to the machine body (12) by telescopic means.
3. A berry harvesting mechanism according to claim 1 or 2, characterized in that said mechanism body (12) has mounted therein a power supply unit (10).
4. A berry harvesting mechanism according to claim 1, characterized in that said detecting means is a sensor detecting means (6).
5. A berry harvesting mechanism according to claim 1, wherein said control system is a control platform (3) or a remote controller (11).
6. A berry harvesting mechanism according to claim 5, characterized in that said control platform (3) is mounted within the machine body (12).
7. A berry harvesting mechanical device according to claim 1, characterized in that, the harvesting device (4) adopts an electric openable harvesting device, the harvesting device (4) comprises a harvesting frame, two ends of the harvesting frame are provided with hinges, and the hinges are provided with motors (5).
8. A method of controlling a berry harvesting mechanism, comprising the steps of:
(1) starting the device, and enabling the mechanical body to walk forwards at a constant speed;
(2) the sensing detection device arranged at the bottom of the machine body detects ground positioning points, and effective detection signals are used for determining the parking position of the walking device and the action of the electric openable and closable harvesting device;
(3) if the sensing detection device does not detect the effective signal, the walking device continues to walk forwards at a constant speed; when an effective signal is detected, the walking device decelerates and stops, the electric openable and closable harvesting device is controlled to act, after the harvesting device finishes the action of the relevant harvesting machinery within the set time, the harvesting device returns to the initial static non-harvesting state, the walking device cancels the stop, and continues to move forwards.
9. A berry harvesting mechanism control method according to claim 8, characterized in that said step (3) comprises the following steps:
(31) when the sensing detection device does not detect the ground effective signal, the walking device walks forwards at a constant speed, and the harvesting device is in a static non-working state and is folded on the mechanical body;
(32) when the sensing detection device detects a ground effective signal, the walking device decelerates and stops, the harvesting device is folded upwards from the mechanical body through the electric telescopic rod and the related hinge and approaches to the berry tree, the motor controls the electric harvesting frame to be unfolded and approach to the berry tree, and the motor folds the harvesting frame to fold the berry tree in the harvesting frame;
(33) controlling a vibrating rod in the harvesting frame to beat and pulp fruit branches by setting beating frequency and time;
(34) the berry branch is patted to the vibrating arm, slaps berry from the branch, falls into in the collection bag of lower extreme, and after accomplishing relevant results mechanical action according to the settlement time, the motor opens the results frame, makes the results frame leave the thick liquid fruit tree through electric telescopic handle to roll over and place on mechanical body, make harvesting device resume initial static not results the state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110850052.8A CN113728805B (en) | 2021-07-27 | 2021-07-27 | Berry harvesting mechanical device and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110850052.8A CN113728805B (en) | 2021-07-27 | 2021-07-27 | Berry harvesting mechanical device and control method thereof |
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| CN113728805A true CN113728805A (en) | 2021-12-03 |
| CN113728805B CN113728805B (en) | 2023-01-31 |
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2021
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| CN108633480A (en) * | 2018-07-20 | 2018-10-12 | 中国农业大学 | One elite stand fruit harvests vibrator |
| CN110036765A (en) * | 2019-05-29 | 2019-07-23 | 北方民族大学 | A kind of oscillatory type fructus lycii picking method and picker system |
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