CN217591567U - Automatic fruit picking device of ridge type strawberry planting mode based on single chip microcomputer control - Google Patents
Automatic fruit picking device of ridge type strawberry planting mode based on single chip microcomputer control Download PDFInfo
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- CN217591567U CN217591567U CN202220113827.3U CN202220113827U CN217591567U CN 217591567 U CN217591567 U CN 217591567U CN 202220113827 U CN202220113827 U CN 202220113827U CN 217591567 U CN217591567 U CN 217591567U
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- 241000220223 Fragaria Species 0.000 claims abstract description 73
- 235000021012 strawberries Nutrition 0.000 claims description 8
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Abstract
The embodiment of the utility model discloses automatic fruit device of plucking of strawberry mode is planted to ridge formula based on single chip microcomputer control, including supporting the trunk, the upside that supports the trunk is provided with mechanical linking arm, one side of mechanical linking arm is provided with the cutting and picks the ware, one side that the ware was picked in the cutting is provided with infrared depth sensor, the downside that supports the trunk is provided with the support workbench, the downside of support workbench is provided with the mobile device. The utility model discloses an infrared depth sensor can discern ripe red strawberry, carry out image acquisition and characteristic extraction in infrared depth sensor department through image recognizer, convey the signal to the cutting and pick the ware afterwards to make the cutting pick the ware and pick ripe strawberry, the inboard of putting into the strawberry collecting box through the rotatory strawberry that will pick of mechanical linking arm, pick the ware through the cutting and can pick the strawberry, improved staff's harvesting efficiency greatly, reduced the picking cost.
Description
Technical Field
The embodiment of the utility model provides a strawberry picking technical field, concretely relates to automatic fruit picking device of strawberry mode is planted to ridge formula based on single chip microcomputer control.
Background
Nowadays, with the rapid development of Chinese economy and the improvement of science and technology, the fruit in out-of-season is widely popularized. The planting area of the strawberries in China is increased from more than 2000 mu in 2001 to 250 ten thousand mu. More than two thirds of strawberry planting modes in China are ridge type planting, although the mode improves the yield of strawberries, the existing fruit picking modes are that a utensil is manually held to squat or stand in a ditch between two ridges in a deep-bending mode, and the work efficiency of fruit picking, daily combing of redundant flowers and fruits in a strawberry field and picking of redundant leaves for doing business is seriously influenced.
At present, the main domestic strawberry picking mode is an artificial picking mode or a simple machine, and the characteristics of low working efficiency, inconvenience in artificial walking and the like exist in the using process. At present, various kinds of strawberry picking are still carried out manually, and no automatic mechanical device is developed, mainly in the improvement of some auxiliary tools, such as braces or hand-push type trolleys, although some progress is made in the research of device structure, principle and the like, the tools fail to achieve the purpose of automatic picking and consume a large amount of physical force. Moreover, the tools have low precision, low working efficiency and wide application range without pertinence, and are not suitable for strawberry picking. Therefore, the technical personnel in the field provide the automatic fruit picking device based on the single chip microcomputer controlled ridge type strawberry planting mode, so as to solve the problems in the background technology.
SUMMERY OF THE UTILITY MODEL
Therefore, the embodiment of the utility model provides an automatic fruit device of plucking of strawberry mode is planted to ridge formula based on single chip microcomputer control to solve among the prior art because the artifical problem that manufacturing cost is high that results in slowly of plucking the strawberry.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
automatic fruit device of plucking of strawberry mode is planted to ridge formula based on single chip microcomputer control, including supporting the trunk, the upside that supports the trunk is provided with the mechanical linking arm, one side of mechanical linking arm is provided with the cutting and picks the ware, one side that the ware was picked in the cutting is provided with infrared depth sensor, the downside that supports the trunk is provided with the support table, the downside of support table is provided with the mobile device.
Furthermore, one side of the upper side of the supporting workbench, which is located on the supporting main body, is provided with a strawberry collecting box, the other side of the upper side of the supporting workbench, which is located on the supporting main body, is provided with an image recognizer, and the upper side of the image recognizer is provided with an alarm.
Furthermore, the mobile device adopts a tank driving device, namely a driving device comprising a driving wheel, a guide wheel and a track, the cutting and picking device comprises a mobile part, a picking part and a cutting part from bottom to top respectively, the mobile part in the cutting and picking device comprises a three-coordinate system shifter, an information transmission device and a six-degree-of-freedom mechanical connecting arm, the cutting part comprises two blades with opposite blades, the specific position of the cutting part is 1 cm above the picking part, the picking part utilizes a 3D printing technology, and the picking part adopts a honeycomb type picking hand to be connected with the shifter through the mechanical connecting arm.
Further, the infrared depth sensor is located 1 cm above the cutting portion of the cutting picker of the picking vehicle.
Further, the image recognizer is electrically connected with the infrared depth sensor.
Further, the supporting workbench is fixedly connected with the strawberry collecting box.
Further, the support trunk is fixedly connected with the support workbench.
Further, the supporting workbench is fixedly connected with the moving device.
The embodiment of the utility model provides a have following advantage:
adopt tank drive arrangement through mobile device, including the drive wheel promptly, the drive arrangement of leading wheel and track makes things convenient for mobile device to remove in the ridge, avoid falling into the condition of earth and take place, can discern ripe red strawberry through infrared depth sensor, carry out image acquisition and feature extraction at infrared depth sensor department through image recognizer, rethread computer is to the processing of image, analysis and understanding, convert image information into positional information, convey the signal to cutting picker afterwards, thereby make cutting picker pick ripe strawberry, put into the inboard of strawberry collecting box through the rotation of mechanical linking arm with the strawberry of picking, set up when picking the strawberry that picking part and cutting part two parts can not carry out the operation to the edible part of strawberry fruit when picking the strawberry, the operation is in the strawberry base, with this edible part of protection to the strawberry that can be more possible, the complete degree and the quality of strawberry have been promoted, the mobile part in the cutting picker includes three coordinate system displacers, information transmission device and six mechanical linking arm make the cutting picker motion realize the multi-angle, parking position, greatly improved the picking efficiency of staff, the upside that can set up the alarm is lost through the discerned alarm that the discernment takes place immediately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.
Fig. 1 is a schematic structural diagram of an automatic fruit picking device based on single chip microcomputer controlled ridge type strawberry planting mode provided by the utility model;
fig. 2 is an enlarged view of a in the automatic fruit picking device based on the single chip microcomputer controlled ridge type strawberry planting mode.
In the figure: 1. supporting the trunk; 2. supporting a worktable; 3. a mobile device; 4. a strawberry collection box; 5. an image recognizer; 6. a mechanical linkage arm; 7. an infrared depth sensor; 8. cutting the picking device; 9. an alarm.
Detailed Description
The present invention is described in detail with reference to the specific embodiments, and other advantages and effects of the present invention will be apparent to those skilled in the art from the disclosure herein. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
Please refer to and refer to fig. 1-2, the embodiment of the utility model provides an, automatic fruit picking device of strawberry mode is planted to ridge formula based on single chip microcomputer control, including supporting trunk 1, a serial communication port, the upside that supports trunk 1 is provided with mechanical linking arm 6, one side of mechanical linking arm 6 is provided with cutting picker 8, one side that cutting picker 8 is provided with infrared depth sensor 7, the downside that supports trunk 1 is provided with supporting workbench 2, supporting workbench 2's downside is provided with mobile device 3, can be convenient rotate through mechanical linking arm 6, the inboard of strawberry collecting box 4 is put into to the strawberry that will pick, can pick the strawberry through cutting picker 8, can play the supporting role through supporting trunk 1, can discern ripe red strawberry through infrared depth sensor 7, can be convenient remove through mobile device 3 and pick.
Preferably, one side that the upside of support workstation 2 is located support trunk 1 is provided with strawberry collecting box 4, the opposite side that the upside of support workstation 2 is located support trunk 1 is provided with image recognizer 5, the upside of image recognizer 5 is provided with alarm 9, strawberry collecting box 4 that the upside that is located support trunk 1 one side through support workstation 2 sets up can be put into the strawberry, conveniently collect, image recognizer 5 that the upside that is located support trunk 1 opposite side through support workstation 2 sets up can carry out image acquisition and characteristic extraction in infrared depth sensor 7 department, the processing of rethread computer to the image, analysis and understanding, convert image information into positional information, convey the signal to cutting picker 8 afterwards, alarm 9 that the upside of image recognizer 5 set up can take place to follow the signal and lose and stop immediately and report to the police.
Preferably, the mobile device 3 adopts a tank driving device, namely, the driving device comprises a driving wheel, a guide wheel and a crawler, the cutting and picking device 8 respectively comprises a mobile part, a picking part and a cutting part from bottom to top, the mobile part in the cutting and picking device 8 comprises a three-coordinate system shifter, an information transmission device and a six-degree-of-freedom mechanical connecting arm, the cutting part comprises two blades with opposite blades, the specific direction of the cutting part is 1 cm above the picking part, the picking part utilizes a 3D printing technology, the picking part adopts a honeycomb picking hand and a shifter to be connected through the mechanical connecting arm, the tank driving device is adopted through the mobile device 3, namely, the driving device comprises a driving wheel, a guide wheel and a crawler facilitates the mobile device 3 to move in a ridge, the situation of sinking of soil is avoided, the picking part and the cutting part are arranged during picking, the edible part of the picking part and the cutting part can not operate on the edible part of strawberry fruits when the strawberries are picked, but operate on the strawberry pedicles, the edible part of the strawberries can be protected to the strawberry more possibly, the integrity and the quality of the strawberries are improved, the mobile part in the cutting device 8 comprises three-degree-of freedom mechanical transmission device, and the six-coordinate system information transmission device, and the multi-angle movement of the cutting device is realized.
Preferably, infrared depth sensor 7 is located 1 cm above the cut site of cutting picker 8 of the picking vehicle, and red ripe strawberries are targeted by infrared depth sensor 7 being located 1 cm above the cut site of cutting picker 8 of the picking vehicle.
Preferably, the image recognizer 5 is electrically connected with the infrared depth sensor 7, image acquisition and feature extraction are carried out at the infrared depth sensor 7 through the image recognizer 5, the image is processed, analyzed and understood through a computer, image information is converted into position information, and then the position information is transmitted to the cutting and picking device 8.
Preferably, the supporting workbench 2 and the strawberry collecting box 4 are fixedly connected, and the strawberries collected by the supporting workbench 2 and the strawberry collecting box 4 are fixedly connected without falling.
Preferably, support trunk 1 and support workstation 2 fixed connection, make support workstation 2 to support trunk 1 and can play the supporting role through supporting trunk 1 and support workstation 2 fixed connection.
Preferably, the supporting workbench 2 is fixedly connected with the moving device 3, and the supporting workbench 2 can be driven to move when the moving device 3 moves through the fixed connection of the supporting workbench 2 and the moving device 3.
The working principle is as follows: adopt tank drive arrangement through mobile device 3, including the drive wheel, the drive arrangement of leading wheel and track makes things convenient for mobile device 3 to remove in the ridge, avoid sinking into the condition of earth and take place, can discern ripe red strawberry through infrared depth sensor 7, carry out image acquisition and characteristic extraction in infrared depth sensor 7 department through image recognizer 5, the processing of rethread computer to the image, analysis and understanding, convert image information into positional information, convey the signal to cutting picker 8 afterwards, thereby make cutting picker 8 pick ripe strawberry, put into the inboard of strawberry collecting box 4 through mechanical linking arm 6 is rotatory with the strawberry of picking, can not carry out the operation to the edible part of strawberry fruit when taking off strawberry through setting up picking part and cutting part two parts when picking up the strawberry, but the operation is in the strawberry base of a fruit, with this edible part that can be more can protect the strawberry, the completeness and the quality of strawberry have been promoted, the mobile part in cutting picker 8 includes three displacers, information transmission device and six degrees of freedom make the mechanical movements of cutting picker realize the multiposition, the personnel of picking the multiposition can reduce the upside that the picking cost is lost through the identification alarm that the upside that the signal has set up 5 and has taken 5 immediately followed.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of this invention without departing from the spirit thereof.
Claims (8)
1. Automatic fruit device of plucking of strawberry mode is planted to ridge formula based on single chip microcomputer control, including supporting trunk (1), its characterized in that, the upside that supports trunk (1) is provided with mechanical linking arm (6), one side of mechanical linking arm (6) is provided with cuts and picks ware (8), one side that ware (8) were picked in the cutting is provided with infrared depth sensor (7), the downside that supports trunk (1) is provided with supporting workbench (2), the downside that supports workstation (2) is provided with mobile device (3).
2. The automatic fruit picking device based on the single chip microcomputer controlled ridge-type strawberry planting manner is characterized in that a strawberry collecting box (4) is arranged on one side, located on the supporting trunk (1), of the upper side of the supporting workbench (2), an image recognizer (5) is arranged on the other side, located on the supporting trunk (1), of the upper side of the supporting workbench (2), and an alarm (9) is arranged on the upper side of the image recognizer (5).
3. The automatic fruit picking device based on the single chip microcomputer controlled ridge-type strawberry planting manner is characterized in that a tank driving device is adopted by the moving device (3), namely the driving device comprises a driving wheel, a guide wheel and a crawler belt, the cutting and picking device (8) comprises a moving part, a picking part and a cutting part from bottom to top, the moving part in the cutting and picking device (8) comprises a three-coordinate system shifter, an information transmission device and a six-degree-of-freedom mechanical connecting arm, the cutting part comprises two blades with opposite cutting edges, the specific direction of the cutting part is 1 cm right above the picking part, the picking part utilizes a 3D printing technology, and the picking part adopts a honeycomb type picking hand to be connected with the shifter through the mechanical connecting arm.
4. The automatic fruit picking device for planting strawberries in ridge-type manner based on single chip microcomputer control according to claim 1, characterized in that the infrared depth sensor (7) is located 1 cm above the cutting part of the cutting picker (8) of the picking vehicle.
5. The automatic fruit picking device for the ridge-type strawberry planting mode based on the single chip microcomputer control of claim 2, wherein the image recognizer (5) is electrically connected with the infrared depth sensor (7).
6. The automatic fruit picking device for ridge-type strawberry planting based on single chip microcomputer control according to claim 2, wherein the supporting workbench (2) is fixedly connected with the strawberry collecting box (4).
7. The automatic fruit picking device for the ridge-type strawberry planting mode based on the single chip microcomputer control of claim 1, wherein the supporting trunk (1) is fixedly connected with the supporting workbench (2).
8. The automatic fruit picking device for ridge-type strawberry planting based on single chip microcomputer control according to claim 1, wherein the supporting workbench (2) is fixedly connected with the moving device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220113827.3U CN217591567U (en) | 2022-01-17 | 2022-01-17 | Automatic fruit picking device of ridge type strawberry planting mode based on single chip microcomputer control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220113827.3U CN217591567U (en) | 2022-01-17 | 2022-01-17 | Automatic fruit picking device of ridge type strawberry planting mode based on single chip microcomputer control |
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| Publication Number | Publication Date |
|---|---|
| CN217591567U true CN217591567U (en) | 2022-10-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202220113827.3U Expired - Fee Related CN217591567U (en) | 2022-01-17 | 2022-01-17 | Automatic fruit picking device of ridge type strawberry planting mode based on single chip microcomputer control |
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| Country | Link |
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| CN (1) | CN217591567U (en) |
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- 2022-01-17 CN CN202220113827.3U patent/CN217591567U/en not_active Expired - Fee Related
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221018 |
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| CF01 | Termination of patent right due to non-payment of annual fee |